Abstract
In this paper, the motion and vibration control system design for a flexible arm which possesses bending and torsional modes is dealt with. The position of center of the mass fluctuates due to an auxiliary mass connected to tip of the arm which denotes payload. This causes an uncertainty in bending and torsional modes. Three degree-of-freedom (DOF) reduced order model is identified according to Seto's procedure. Based on the obtained model, robust control design procedure utilizing H-infinity control theory is applied. In this study, the effect of low-pass filter on the steady-state and transient performances is investigated. Computer simulations are carried out and it is clarified that there exists trade-off property between steady-state and transient performances.
