Vibration Control of Smart Structure Using Sliding Mode Control with Observer

Abstract

This paper studies the application of the sliding mode control method to reduce the vibration of flexible structure with piezoelectric actuators and strain gage transducer in practical complex environment. The state- space dynamic model of the system was derived by using finite element method and experimental modal test. The structure is subjected to arbitrary, unmeasurable disturbance forces. Taking into account the uncertain random disturbance and measurement noise, Kalman filter is chosen as the state estimator to obtain the modal coordinates and modal velocities for the modal space control. A sliding mode controller is adopted due to its distinguished robustness property of insensitiveness to parameter uncertainties and external disturbances. The sliding surface is determined by using optimization method, and the sliding controller is designed by applying Lyapunov direct method. That is, along the switching surface, the cost function of the states is minimized. A real-time control system was built using dSPACE DS1103 platform, and vibration control tests were performed to experimentally verify the performances of the proposed controller. The results of experiment show the controller can effectively attenuate elastic vibration of the structure.