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As systems become more lightweight, to satisfy inertia and size requirements, vibration becomes a prominent factor in their dynamics. This vibration is undesirable and various suppression methods exist such as passive, semi-active, and active. In this thesis, active control methods are explored for this purpose. The present technology utilizes under-actuation for suppression of multiple modes, which has a sub-optimal performance. This work provides a comparative study on the different vibration suppression algorithms, which would aid in developing a distributed placement of actuators (over-actuation) and sensors. The main aim is to achieve multi-mode suppression systems and improve collocation for higher-order modes which facilitates accurate control of the end-effector of a system. A comparison is drawn between point actuation and over-actuation in terms of energy consumption, amount of damping, and precision. Also, a new control strategy is developed to circumvent the limitations posed by the present control strategies such as low frequency spillover and steady-state error. The benefits in terms of damping and shortcomings are presented based on the conclusion drawn, Mechanical Engineering

As systems become more lightweight, to satisfy inertia and size requirements, vibration becomes a prominent factor in their dynamics. This vibration is undesirable and various suppression methods exist such as passive, semi-active, and active. In this thesis, active control methods are explored for this purpose. The present technology utilizes under-actuation for suppression of multiple modes, which has a sub-optimal performance. This work provides a comparative study on the different vibration suppression algorithms, which would aid in developing a distributed placement of actuators (over-actuation) and sensors. The main aim is to achieve multi-mode suppression systems and improve collocation for higher-order modes which facilitates accurate control of the end-effector of a system. A comparison is drawn between point actuation and over-actuation in terms of energy consumption, amount of damping, and precision. Also, a new control strategy is developed to circumvent the limitations posed by the present control strategies such as low frequency spillover and steady-state error. The benefits in terms of damping and shortcomings are presented based on the conclusion drawn, Mechanical Engineering