Adaptive input shaping and control for simultaneous precision positioning and vibrationsuppression of smart composite plates

Abstract

This paper focuses on simultaneous precision positioning and vibration suppression ofsmart composite plates with multiple piezoelectric patch actuators. Following the analysis,measurement, and estimation of a smart composite plate dynamics is the development of amulti-reference and multi-channel adaptive algorithm and an adaptive controlstrategy. The introduced adaptive control strategy consists of an adaptive inputshaping unit and an adaptive positioning/vibration control unit, and both units aredesigned by applying the adaptive algorithm. The adaptive input shaping unit isused to suppress free vibration due to the smart composite plate motion and toexpedite the convergence of the adaptation of the adaptive positioning/vibrationcontroller. The adaptive positioning/vibration controller then provides precisionpositioning control and reduces the vibration due to the motion of the plate and/orexternal disturbances. In addition, an internal model configuration is employedto provide the reference needed in the adaptive control strategy and the effectof the discrepancy between the estimated dynamic model and the plate on theperformance of the controller is also explored. The experiments demonstrate that theadaptive control strategy has excellent capabilities of positioning and vibrationcontrols for various positioning and vibration conditions of the smart compositeplate.