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Vibration Suppression Controller for a Flexible Beam on a Cart Using SMC

  • Conference paper
ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

Abstract

In this paper, vibration suppression of a flexible beam on a moving cart is investigated based on sliding mode control (SMC). A linear model which describes the motion of the beam-cart system, as well as the vibrational motion of the beam, are firstly derived. In the proposed control strategy, a PD controller is used to control the position of the cart, and a corrector switching law is added to attenuate the beam vibration. Indeed, the linear controller plays the role of the equivalent control law to make the states of the system reach the surface. Simulation and experimental results are given to demonstrate de effectiveness of the proposed control strategy.

This work has been supported by the Spanish Ministry of Economy and Competitiveness under the project DPI2012-37062-C02-02.

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Author information

Authors and Affiliations

  1. Department of Electrical, Electronics and Automation Engineering, University of Extremadura, Badajoz, Spain

    S. Hassan HosseinNia, Inés Tejado, Daniel Torres & Blas M. Vinagre

Authors
  1. S. Hassan HosseinNia
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  2. Inés Tejado
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  3. Daniel Torres
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  4. Blas M. Vinagre
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Corresponding author

Correspondence to S. Hassan HosseinNia .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones CientĂ­ficas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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HosseinNia, S.H., Tejado, I., Torres, D., Vinagre, B.M. (2014). Vibration Suppression Controller for a Flexible Beam on a Cart Using SMC. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_11

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_11

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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