Robust Controller Design and Analysis of a 2-DOF Mechanism

摘要：

　　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.

关键词： Compliant mechanism robust control trajectory tracking uncertainty

作者: Yan-Ding Qin Bijan Shirinzadeh Yan-Ling Tian Da-Wei Zhang Umesh Bhagat Leon Clark

作者单位: School of Mechanical Engineering, Tianjin University, Tianjin, China;Department of Mechanical and Ae Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Australia School of Mechanical Engineering, Tianjin University, Tianjin, China

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 327-332

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）