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http://dx.doi.org/10.5050/KSNVN.2006.16.12.1262

Uncertainties and Control of a 3-DOF Active Vibration Isolation System  

Kim, Hwa-Soo (서울대학교 기계항공공학부 BK21사업단)
Pahk, Heui-Jae (서울대학교 기계항공공학부)
Cho, Young-Man (서울대학교 기계항공공학부)
Moon, Jun-Hee (서울대학교 마이크로열시스템연구센터)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.16, no.12, 2006 , pp. 1262-1271 More about this Journal
Abstract
Using the physics-based model for the vibration isolation system, the model uncertainties are described. With the model including parameter perturbations, the robust controller to meet the robust performance and stability is designed through $\mu$-synthesis by DK-iteration. The order of controller is reduced by virtue of Hankel norm approximation technique to allow the efficient implementation in the real-time experimental environment without any performance degradation. The performance of the reduced $\mu$-controller is accessed in comparison with the original one. The experiments validate the superiority of the proposed control scheme against the model uncertainties and its applicability with varying payload.
Keywords
Robust Control; Active Vibration Isolation; Model Uncertainty; $\mu$-synthesis; Model Reduction;
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Times Cited By KSCI : 1  (Citation Analysis)
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