An Adaptive Neurocontroller for Vibration Suppression and Shape Control of a Flexible Beam

This paper presents research into an adaptive nonlinear neural network control algorithm that can be used with smart structure actuators and sensors to control the shape and suppress the vibrations of flexible beams. The algorithm presented couples an explicitly model-based adaptive component, which employs time-varying estimates of the beam material properties, with an adaptive neural network, learning in real-time, which is used to estimate the additional actuator moments needed to offset the effects of periodic external disturbances. Experimental results are given for a thin beam, with bonded piezoceramic sensors and actuators, demonstrating the ability of the algorithm to track desired bending profiles and reject the vibrations caused by external disturbances, as well as to maintain this performance despite changes in the material properties of the structure or in the properties of the external disturbance.

[1]  Rajendra R. Damle,et al.  Predictive neuro control of vibration in smart structures , 1996, Smart Structures.

[2]  Robert M. Sanner,et al.  Stable Adaptive Control of Robot Manipulators Using Neural Networks , 1995, Neural Computation.

[3]  Edward F. Crawley,et al.  Intelligent structures for aerospace - A technology overview and assessment , 1994 .

[4]  Simon Haykin,et al.  Neural Networks: A Comprehensive Foundation , 1998 .

[5]  Y. C. Chen,et al.  Vibration Control of the Elastodynamic Response of High-Speed Flexible Linkage Mechanisms , 1991 .

[6]  Leonard Meirovitch,et al.  Elements Of Vibration Analysis , 1986 .

[7]  Gang Tao.  Adaptive control of systems with nonsmooth input and output nonlinearities , 1996, IEEE Trans. Autom. Control..

[8]  Haim Baruh,et al.  Active control of flexible structures by use of segmented piezoelectric elements , 1996 .

[9]  Perambur S. Neelakanta,et al.  Recursive Estimation of Displacement and Velocity in a Cantilever Beam Using a Measured Set of Distributed Strain Data , 1995 .

[10]  Ephrahim Garcia,et al.  A Self-Sensing Piezoelectric Actuator for Collocated Control , 1992 .

[11]  Vasundara V. Varadan,et al.  Smart Structures and Materials 1997: Mathematics and Control in Smart Structures , 1995 .

[12]  Kenneth B. Lazarus,et al.  Induced strain actuation of isotropic and anisotropic plates , 1991 .

[13]  C. Y. Liao,et al.  An Elastodynamic Analysis and Control of Flexible Linkages Using Piezoceramic Sensors and Actuators , 1993 .

[14]  Vittal S. Rao,et al.  Multivariable Neural Network Based Controllers for Smart Structures , 1995 .

[15]  Ian R. Petersen,et al.  H infinity control of flexible slewing link with active damping , 1993, Smart Structures.

[16]  Sathya Hanagud,et al.  OPTIMAL VIBRATION CONTROL BY THE USE OF PIEZOCERAMIC SENSORS AND ACTUATORS , 1992 .

[17]  Vittal S. Rao,et al.  H∞ optimal control of smart structures , 1994, Smart Structures.

[18]  Inderjit Chopra,et al.  Review of current status of smart structures and integrated systems , 1996, Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[19]  M. Preiswerk,et al.  An analysis of vibration control using piezoceramics in planar flexible-linkage mechanisms , 1994 .

[20]  Moon K. Kwak,et al.  Dynamic modeling and vibration suppression of a slewing active structure utilizing piezoelectric sensors and actuators , 1993, Smart Structures.

[21]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[22]  Petros A. Ioannou,et al.  Instability analysis and robust adaptive control of robotic manipulators , 1989, IEEE Trans. Robotics Autom..

[23]  Kwaku O. Prakah-Asante,et al.  The application of multi-channel design methods for vibration control of an active structure , 1994 .