It is well known that the unmodelled dynamics may deteriorate the efficiency of a controller if the controller is not robust enough. This paper presents a robust H∞ vibration control method for high-speed flexible 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 significantly 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.
Bibliographical noteFunding Information:
This research was supported by the National Natural Science Foundation of China under Grants 59975056, 59605001, the Foundation for University Key Teacher by the Ministry of Education, the Natural Science Foundation of Guangdong Province under Grant 970381, 20000783, and the elitist Foundation of Guangdong Province under Grant 9912. The "rst author gratefully acknowledges these supports.