Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC

Sheng HAO; Yuh YAMASHITA; Koichi KOBAYASHI

doi:10.1587/transfun.2019KEP0007

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Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC

Sheng HAO, Yuh YAMASHITA, Koichi KOBAYASHI

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Summary :

This paper proposes an active vibration-suppression control method for the systems with multiple disturbances using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect the system simultaneously. The added device plays a similar role as an accelerometer, but we avoid the algebraic loop. The main idea of the feedback law is to convert a nonlinear system into an aseismatic desired system by using the energy shaping technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E103-A No.9 pp.1078-1085

Publication Date: 2020/09/01

Publicized

Online ISSN: 1745-1337

DOI: 10.1587/transfun.2019KEP0007

Type of Manuscript: Special Section PAPER (Special Section on Circuits and Systems)

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Authors

Sheng HAO
  Hokkaido University
Yuh YAMASHITA
  Hokkaido University
Koichi KOBAYASHI
  Hokkaido University

Keyword

nonlinear control, vibration measurement, sensors

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Sheng HAO, Yuh YAMASHITA, Koichi KOBAYASHI, "Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC" in IEICE TRANSACTIONS on Fundamentals, vol. E103-A, no. 9, pp. 1078-1085, September 2020, doi: 10.1587/transfun.2019KEP0007.
Abstract: This paper proposes an active vibration-suppression control method for the systems with multiple disturbances using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect the system simultaneously. The added device plays a similar role as an accelerometer, but we avoid the algebraic loop. The main idea of the feedback law is to convert a nonlinear system into an aseismatic desired system by using the energy shaping technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2019KEP0007/_p

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@ARTICLE{e103-a_9_1078,
author={Sheng HAO, Yuh YAMASHITA, Koichi KOBAYASHI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC},
year={2020},
volume={E103-A},
number={9},
pages={1078-1085},
abstract={This paper proposes an active vibration-suppression control method for the systems with multiple disturbances using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect the system simultaneously. The added device plays a similar role as an accelerometer, but we avoid the algebraic loop. The main idea of the feedback law is to convert a nonlinear system into an aseismatic desired system by using the energy shaping technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example.},
keywords={},
doi={10.1587/transfun.2019KEP0007},
ISSN={1745-1337},
month={September},}

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TY - JOUR
TI - Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1078
EP - 1085
AU - Sheng HAO
AU - Yuh YAMASHITA
AU - Koichi KOBAYASHI
PY - 2020
DO - 10.1587/transfun.2019KEP0007
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E103-A
IS - 9
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - September 2020
AB - This paper proposes an active vibration-suppression control method for the systems with multiple disturbances using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect the system simultaneously. The added device plays a similar role as an accelerometer, but we avoid the algebraic loop. The main idea of the feedback law is to convert a nonlinear system into an aseismatic desired system by using the energy shaping technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example.
ER -