Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control

Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...

Intelligent Sliding Mode Control in Flexible Structures

Sliding Mode Control for Single-degree-of-freedom Nonlinear Structures

The occurrence of catastrophic earthquakes necessitates further researches in the structure engineering for retrofitting construction structures. In this paper, the application of the active control in the structures’ seismic response has been addressed. A single degree of freedom nonlinear structure has been studied. The nonlinear dynamic of the structure is considered in which, the nonlinear ...

Stability Analysis of Closed-loop Input Shaping Control

Input shaping is a vibration control technique that operates by filtering reference commands so that the modified (or shaped) command does not excite the system’s natural frequencies. Usually, input shaping is limited to a filtering operation outside of any feedback loops. However, this implementation prevents input shaping from effecting some vital control applications including disturbance re...

Adaptive Fuzzy Dynamic Sliding Mode Control of Nonlinear Systems

Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...