Robust Controller Design and Analysis of a 2-DOF Mechanism

机译：鲁棒控制器设计与分析2-DOF机制

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For piezo-driven compliant mechanisms,the modeling uncertainties,external disturbances,and the measurement noise greatly affect the performance of the closed-loop system.This paper presents a compound robust controller design of a 2-DOF compliant mechanism.During the controller design,the modeling uncertainties are derived and analytically represented based on the experimental observations.A robust controller through the μ synthesis is established to stabilize the closed-loop system in the presence of uncertainties,external disturbances,and the measurement noise.In addition,a Proportional-Integral controller is also integrated to the robust controller so as to eliminate the steady state tracking error.The compound controller achieves high robustness performance margin,and thus is capable of improving the tracking performance of the closed-loop system.The computational analyses reveal that the compound controller is feasible in piezo-driven applications.

机译：对于压电驱动的柔性机制，建模不确定性，外部干扰和测量噪声大大影响了闭环系统的性能。本文提出了一种符合2-DOF兼容机制的复合鲁棒控制器设计。控制器设计，基于实验观察来衍生和分析模拟不确定性。建立通过μ合成的鲁棒控制器，以稳定在存在不确定性，外部干扰和测量噪声的情况下稳定闭环系统。此外，比例 - 积分控制器也集成到坚固的控制器，以消除稳态跟踪错误。复合控制器实现了高稳健性性能余量，因此能够提高闭环系统的跟踪性能。计算分析显示复合控制器在压电驱动应用中是可行的。

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《International conference on mechatronics technology》|2012年||共6页
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Yan-Ding Qin; Bijan Shirinzadeh; Yan-Ling Tian; Da-Wei Zhang; Umesh Bhagat; Leon Clark;
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中图分类 TH15;
关键词
Compliant mechanism; robust control; trajectory tracking; uncertainty;

机译：兼容机制;鲁棒控制;轨迹跟踪;不确定性;

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机译：非线性系统鲁棒分散控制器的分析与设计

Robust Controller Design and Analysis of a 2-DOF Mechanism

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