LMI-based state feedback controller design for vibration control of a negative imaginary system

Author

Abdullahi, Auwalu M. ; Mohamed, Z. ; Abidin, M.S.Zainal ; Akmeliawati, R. ; Husain, A.R. ; Bature, Amir A.

Author_Institution

Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM, Johor, Malaysia

fYear

2015

fDate

May 31 2015-June 3 2015

Firstpage

1

Lastpage

6

Abstract

This paper presents state feedback control via linear matrix inequality (LMI) for vibration control of a flexible link manipulator (FLM) system. FLM is a negative imaginary (NI) system with high amplitude vibration and oscillation. In this work, pole placement controller (PPC) which is NI controller is used to control the FLM vibration, to achieve a precise hub angle positioning with minimum tip deflection. A decay rate is introduced to improve the speed of the system and investigate the effect on the system performance. LMI optimization technique is used to obtain the optimal and best control gains of PPC using Matlab LMI toolbox with different values of the decay rate. Simulation results show that satisfactory hub angle and tip deflection responses are achieved using the proposed controller. Damping is successfully added into the system and reduces the system vibration at the first two vibration modes by 40 dB. Hub angle positioning is achieved with minimum tip deflection by changing the value of decay rate.

Keywords

Manipulators; Mathematical model; Nickel; State feedback; Transfer functions; Vibrations; LMI approach; Vibration control; negative imaginary system; pole placement control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2015 10th Asian

Conference_Location

Kota Kinabalu, Malaysia

Type

conf

DOI

10.1109/ASCC.2015.7244798

Filename

7244798