Model-base predictive control for vibration suppression of a flexible manipulator

This paper focuses on the development of a multivariable predictive controller for vibration suppression of a flexible manipulator using piezoelectric actuator. To the best of the authors knowledge, the predictive controller for active vibration suppression has been rarely studied, so making it a prime area research to explore. A two-step procedure performed to develop the detailed model of the whole structure. First a dynamic model of the structure without piezoelectric film actuator is developed using the combined Lagrange-Assume modes method. Second the influence of the actuator is incorporated by calculating generalized applied force on the substructure.