Robust observer-based frequency-shaping optimal vibration control of uncertain flexible linkage mechanisms

Based on the state-space model of the flexible linkage mechanism equipped w ith piezoelectric materials, a robust observer-based frequency-shaping opti mal feedback (OBFSOF) control methodology is presented for actively suppres sing the elastodynamic responses of the high-speed flexible linkage mechani sm with linear structured time-varying parameter perturbations. The advanta ge of the proposed OBFSOF control methodology is that it can make the contr olled closed-loop system to obtain both good robustness at high frequencies and good performance at low frequencies. Besides, this paper also presents two robust stability criteria to guarantee that the designed OBFSOF contro ller can make the controlled flexible linkage mechanism system to avoid the possibilities of both spillover-induced instability and time-varying-param eter-perturbation-induced instability. Numerical simulation of a slider-cra nk mechanism example is performed to evaluate the improvement of the elasto dynamic responses. (C) 2001 Elsevier Science Inc. All rights reserved.