Active vibration control using Terfenol-D with H-infinity filter

In this paper a magnetostrictive material (Terfenol-D) based active vibration control of high amplitude has been proposed. A single link planar flexible manipulator with rotary joint has been modelled using Terfenol-D as smart active material. H-infinity filter is used in the context to estimate the tip deflection (position) and deflection rate (velocity) of the flexible manipulator based on which comparison is made with the active control scheme to compare the performance efficiency. Modal approach is followed for derivation of the dynamic model and then proportional damping scheme is introduced taking account of the properties of the host layer and smart layer. Fabrication of Terfenol-D based composite actuator is also discussed which is used in the experiment. Simulations are first performed to demonstrate effective vibration containment and the results proved that the proposed method could attenuate vibration effectively. However, to identify the elastic displacements as generalized coordinates an optimal performance is required. This is carried out by discretization of the elastic motion through the assumed mode technique and applying H-infinity filter. H-infinity filter is used to compare the active vibration control performance with the damping scheme. Experiments are conducted to verify the simulation results.