Vibration suppression controller for a flexible beam on a cart using SMC

Abstract

In this paper, vibration suppression of a flexible beam on a moving cart is investigated based on sliding mode control (SMC). A linear model which describes the motion of the beam-cart system, as well as the vibrational motion of the beam, are firstly derived. In the proposed control strategy, a PD controller is used to control the position of the cart, and a corrector switching law is added to attenuate the beam vibration. Indeed, the linear controller plays the role of the equivalent control law to make the states of the system reach the surface. Simulation and experimental results are given to demonstrate de effectiveness of the proposed control strategy.