Sliding Mode Output Feedback Control of Vibration in a Flexible Structure

[+] Author and Article Information
M. C. Pai

Department of Automation Engineering, Nan Kai Institute of Technology, Tsa-Tun, Nantou, Taiwan 54210, R.O.C.pmc@nkc.edu.tw

A. Sinha

Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802axs22@psu.edu

J. Dyn. Sys., Meas., Control 129(6), 851-855 (Apr 25, 2007) (5 pages) doi:10.1115/1.2789475 History: Received September 24, 2004; Revised April 25, 2007

This paper presents a new approach for the robust control of vibration in a flexible structure in the presence of uncertain parameters and residual modes. The technique is based on the sliding mode control algorithm using direct output feedback and assumes that actuators and sensors are not collocated. The uncertainty matrix need not satisfy the invariance or matching conditions. The small gain theorem/μ analysis is applied to analyze the asymptotic behavior of the closed-loop system with parametric uncertainties inside boundary layers. The model of a flexible tetrahedral truss structure is used to conduct numerical verification of the theoretical analysis.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

M−Δ0−K0 and P−Δ0 diagrams

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Figure 2

Sliding hyperplane variables

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Figure 3

Outputs as functions of time



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