Experimental Verification of Model-Free Vibration Control Technique Based on a Virtual Controlled Object Considering Actuator Parameter Uncertainty

Abstract

This study proposes a novel model-free vibration controller based on a virtual controlled object (VCO) considering actuator parameter uncertainty. A proof-mass actuator, which is modeled as a single-degree-of-freedom (SDOF) system, is employed. A VCO, which is defined as an SDOF system, is inserted between the actual controlled object and the actuator model. Considering frequency transfer characteristic from actual controlled object to VCO, setting appropriate parameters of the VCO realizes model-free control. A state equation to design the model-free controller is derived based on the two-degree-of-freedom (2DOF) system composed of the actuator model and the VCO. The actuator parameter uncertainty is quantitatively modeled in the 2DOF plant. Traditional mixed H2/H∞ control theory is applied for the uncertain plant to design a model-free controller with high damping performance and robustness to the actuator uncertainty. The effectiveness of the proposed controller is confirmed by vibration control experiments.