Discrete switching vibration suppression for flexible systems with redundant actuation

If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero vibration. If the system possesses redundant on/off actuation, the number of possible zero vibration commands increases. Of particular interest is the command that has the minimum number of actuator changes in state. This paper presents how to determine this command and applies it in simulation to a flexible actuator inspired by human muscle.