Abstract
A hybrid controller is proposed to control the vibration of a cantilever structure. The hybrid adaptive controller combines sliding mode controller (SMC) and proportional-derivative (PD) controller. Meanwhile, a type-2 fuzzy neural network (T2FNN) with a zero-order consequent part and certain center is applied to SMC due to the unknown of the controlled object. The initial parameters of T2FNN are obtained through the identification by an SMC-theory based T2FNN. The adaption laws of the controller and T2FNN are given through Lyapunov stability. The state space equation of the beam is established for simulation. The proposed controller is applied to vibration control of a cantilever beam bonded with piezoelectric actuator to verify its effectiveness. The simulation and experiment results show excellent control performance of disturbance rejection and vibration suppression of the proposed controller.
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