Model-free vibration control based on a virtual controlled object considering actuator uncertainty

摘要

The purpose of this research is to construct a simple and practical controller design method, considering the actuator's parameter uncertainty, without using a model of controlled objects. I n this method, a controller is designed with an actuator model including a single-degree-of-freedom virtual structure inserted between actuator and controlled object, resulting in a model-free controller design. Furthermore, an H-infinity control problem is defined so that the actuator's parameter uncertainty is compensated by satisfying a robust stability condition. Because the actuator model including the virtual controlled object is a simple low-order system, and the actuator's parameter uncertainty is considered, a controller with high robustness to the actuator's parameter uncertainty can be designed based on traditional model-based control theory. The effectiveness of the proposed method is verified by both simulation and experiment.