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Discrete-Time H-Infinity Synthesis of Frequency-Shaped Sliding Mode Control for Suppression of Vibration With Multiple Peak Frequencies

[+] Author Affiliations
Minghui Zheng, Masayoshi Tomizuka

University of California, Berkeley, CA

Paper No. DSCC2016-9837, pp. V002T22A006; 9 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


Vibration with multiple large peaks at high frequencies may cause significant performance degradation and have become a major concern in modern high precision control systems. To deal with such high-frequency peaks, it is proposed to design a frequency-shaped sliding mode controller based on H synthesis. It obtains an ‘optimal’ filter to shape the sliding surface, and thus provides frequency-dependent control allocation. The proposed frequency-shaping method assures the stability in the presence of multiple-peak vibration sources, and minimizes the weighted H norm of the sliding surface dynamics. The evaluation is performed on a simulated hard disk drive with actual vibration sources from experiments, and the effectiveness of large vibration peak suppression is demonstrated.

Copyright © 2016 by ASME



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