Abstract
In this paper, a vibration control system design for a flexible arm that possesses bending and torsional modes is investigated. First, an experimental flexible arm is made with an auxiliary mass connected to the other end via an extension bar so that the center of the stiffness of the arm may not exist in the direction of motion of the auxiliary mass. The auxiliary mass denotes payload. A three-degrees-of-freedom (3DOF) reduced order model is identified according to Seto's procedure. Based on the model obtained, a robust control design procedure utilizing H-infinity control theory is applied. Control experiments are carried out to verify the effectiveness of the presented design procedure.
