Modeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework

The current research aims to address the vibration issues induced from external excitation in the structures by avoiding the resonance in the structure. Tendon-Driven Continuum Robot (TDCR) configuration is used to both represent the structure and control the externally induced vibrations of the structure. The structural configuration of the TDCR enables its structure to alter the effective stiffness by applying external control force to the tendons in terms of tensile force. The control force changes the overall stiffness of the structure. As a result of the stiffness alterations, the natural frequency of the structure changes and deviates from the frequency of any external source. Two control approaches are utilized in this research. In the first approach Open Loop Control is implemented, while in the second approach Feedback control is developed using Fuzzy Logic Control (FLC) control approaches. The first approach is mostly considered to study the dynamical behavior of the structure when a control force is applied to the structure. The extracted information of the behavior of the structure using the open-loop control approach is then utilized to design a reliable closed loop controller. Both the simulations and the experimental results show that taking the robotic approach to address the vibration in the structures is an effective way since it can both mitigate the vibrations of the structure and reduce the chances of resonance in the structure since the effective stiffness changes as a result of applying control force to the tendons.