Tip Point Control Of A Flexible Beam Using Robust Mu Synthesis Controller

Abstract

The advantages offered by flexible beams and its applications in various areas have paved the path for analyzing its properties, in which it is observed that flexibility is a major challenge. In the case of applications like robotics, flexible manipulators etc in which accuracy have a significant role, flexibility causes difficulty in the precise positioning and motion control because of the undesired structural vibrations. Hence it becomes necessary to implement a controller in a flexible beam that helps in obtaining the desired performance even in the presence of such vibrations. This paper discusses about the modeling and tip point control of a flexible beam. The modeling of the flexible beam is done using Euler Lagrangian method combined with Assumed Mode Method (AMM). For the effective suppression of vibration and better tracking performance, <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mu$</tex> synthesis control is designed taking into account of the structured system uncertainties in the system thereby making the system robust to parameter variations.