Robust observer-based OMF vibration control of flexible linkage mechanisms using piezoelectric films

• Published in: International journal of mechanical sciences 1998-08, Vol.40 (8), p.749-759
• Main Authors: Chou, Jyh-Horng, Horng, Ing-Rong, Liao, Wen-Hwei
• Format: Article
• Language: English
• Subjects: Applied sciences; Drives; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Linkage mechanisms, cams; Mechanical engineering. Machine design; Physics; Solid mechanics; Structural and continuum mechanics; Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...); Vibrations and mechanical waves
• ISSN: 0020-7403; 1879-2162
• DOI: 10.1016/S0020-7403(97)00111-2

Based on the state-space model of the flexible linkage mechanism equipped with piezoelectric films, a robust control methodology for actively suppressing the elastodynamic responses of the high-speed flexible linkage mechanism with linear structured time-varying parameter perturbations by employing an observer-based optimal model-following (OMF) controller is presented. The advantage of the proposed robust observer-based OMF control methodology is that it not only can avoid the problem of how to choose the appropriate weighting matrices in the quadratic cost function of the linear-quadratic/linear-quadratic-Gaussian (LQ/LQG) control method but also can make the controlled closed-loop system to have the specified system response characteristics. Besides, in order to guarantee that the designed observer-based OMF controller can make the controlled flexible linkage mechanism system to avoid the possibilities of both spillover-induced instability and time-varying-parameter-perturbation-induced instability, a robust stability criterion is also presented in this paper. The control method, presented in this paper, can not only make the controlled closed-loop system to have the specified system response characteristics, but also guarantee the controlled closed-loop system to have robust stability properties by using the proposed robust stability criterion; while those control methods reported recently do not have these above-mentioned merits. Finally, an active robust vibration control problem of a slider-crank mechanism is provided for illustrating the applicability of the proposed method.