Combining input shaping and adaptive super-twisting terminal sliding mode control for vibration suppression

This paper investigates the residual vibration suppression problem of mismatched uncertain time-delay flexible structures. Input shaping technique is an effective method to reduce residual vibration of flexible structures. However, performance of the input shaper degrades as the plant model is not accurate. Moreover, input shaping technique cannot handle the vibration excited by time delays and external disturbances. To overcome these shortcomings, a new control scheme is developed, which integrates input shaping and adaptive super-twisting terminal sliding mode control. Under the proposed control scheme, the residual vibration is successfully suppressed in the presence of time delays, parameter uncertainties, external disturbances and inaccurate applied impulse instants. Besides, the chattering phenomenon is eliminated without losing the precision of the system performance. Simulation results demonstrate the efficiency and the superiority of the proposed scheme.