Multiple Model Switching Fx-VSSLMS Algorithm for Active Vibration Control of Flexible Cantilever Beam with Varying Load

Abstract

Vibration at the tip of various flexible robot arms with varying loads may affect their operation accuracy and work efficiency. To suppress such vibration disturbances, a multiple model switching adaptive control algorithm based on filtered-x least mean square (FxLMS) algorithm is proposed firstly. Then, a multiple model switching adaptive control algorithm based on filtered-x variable step size least mean square (Fx-VSSLMS) algorithm is proposed to accelerate the convergence rate and enhance control performance. Co-simulation platform using Adams and Simulink was built to compare the control performance of FxLMS algorithm and multiple model switching FxLMS algorithm. The simulation results show that the proposed multiple model switching FxLMS algorithm has better convergence performance under varying load conditions for the flexible cantilever beam. In this paper, three multiple model switching Fx-VSSLMS algorithms are proposed and compared with the multiple model switching FxLMS algorithm on the co-simulation platform. Simulation results show that the multiple model switching Fx-VSSLMS algorithms have better convergence performance under varying load conditions for the flexible cantilever beam. The experimental results further verify the conclusion.