PIEZOELECTRIC ACTUATOR BASED ADAPTIVE VIBRATION CONTROL OF FLEXIBLE ARM

This paper presents an adaptive control experiment by piezoelectric actuator to cancel the vibration from a flexible arm. In real systems with external disturbances, the vibration effect due to the inherent elastic deformation of flexible arm makes the satisfactory control results can not be obtained. To reduce the vibration effect, based on an external disturbance model with consideration of dynamics of the piezoelectric actuator, adaptive vibration control experimental system designed, where the controller is based on Youla-Kucera parametrization and right coprime factorization. As a practical appeal, experimental results are shown to support the proposal on the control system design.