A modified design on operator-based nonlinear vibration control for an L-shaped arm with load

Abstract

This paper presents a modified design on operator-based vibration control of an L-shape arm with unknown load. In detail, firstly, the dynamics of the L-shaped arm vibration is modelled by considering the arm as a two dimensional Euler-Bernoulli beam. The relationship between the load mass and the arm vibration is given. Secondly, by using an on-line wavelet transform in the operator-based control design, two robust nonlinear controls are designed for the system such that the motor moves fast and the arm vibration is reduced, and a modified compensator is used to compensate the hysteresis nonlinearity of the actuator. The wavelet transform is used to estimate the load and reduce the influence of some undesired uncertainties such that the performance of the operator-based control is improved. Finally, simulation results are demonstrated to verify the effectiveness of the proposed control.