Synthesis of a Multi-Connected Digital Controller for a Robotized Vibration Isolation Platform Based on H∞-Optimization

We consider the problem of constructing multi-connected control of a robotic platform designed to protect technological objects and human operators from low-frequency influences on part of the moving base. The platform includes six drive mechanisms with stepper motors. The problem is solved by the m...

Full description

Saved in:
Bibliographic Details
Published in:Automation and remote control 2018-07, Vol.79 (7), p.1255-1269
Main Authors: Rybak, L. A., Gaponenko, E. V., Chichvarin, A. V.
Format: Article
Language:English
Subjects:
Adaptive
CAE) and Design
Calculus of Variations and Optimal Control
Optimization
Computer-Aided Engineering (CAD
Control
Feedback control
H-infinity control
Mathematical models
Mathematics
Mathematics and Statistics
Matrix methods
Mechanical Engineering
Mechatronics
Network Control
Operators (mathematics)
Optimal control
Optimization
Robotics
Robust
Robust control
Robust stabilization
Robustness (mathematics)
State feedback
Systems Theory
Vibration control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We consider the problem of constructing multi-connected control of a robotic platform designed to protect technological objects and human operators from low-frequency influences on part of the moving base. The platform includes six drive mechanisms with stepper motors. The problem is solved by the methods of the modern theory of robust stabilization and optimal control based on H ∞ -optimization in the state space. We construct a mathematical model of the multidimensional system, taking into account the characteristics of electromechanical drives and using signals of feedback sensors as state variables. We give an example of synthesizing a multidimensional optimal stabilizing controller in the form of state feedback for a system with disturbances bounded in L 2 -norm. We define the feedback control structure and obtain the matrix of feedback coefficients. We also show the results of mathematical modeling.
ISSN:0005-1179
1608-3032
DOI:10.1134/S0005117918070068