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ROBUST H∞VIBRATION CONTROL FOR FLEXIBLE LINKAGE MECHANISM SYSTEMS WITH PIEZOELECTRIC SENSORS AND ACTUATORS

✍ Scribed by X. ZHANG; C. SHAO; S. LI; D. XU; A.G. ERDMAN

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
304 KB
Volume
243
Category
Article
ISSN
0022-460X

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✦ Synopsis

It is well known that the unmodelled dynamics may deteriorate the e$ciency of a controller if the controller is not robust enough. This paper presents a robust H vibration control method for high-speed #exible linkage mechanism systems with piezoelectric actuators and sensors. The robust H controller is designed based on the complex mode and the H control theory. The numerical simulation shows that the vibration can be signi"cantly suppressed with permitted actuator voltages by the controller. The robust H controller can avoid the spillover due to mode truncation to compare with some other method.

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