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Design and Implementation of a Hybrid Control Strategy for an Active Vibration Isolation System

[+] Author Affiliations
Yisheng Zhang, Andrew G. Alleyne, Danian Zheng

University of Illinois at Urbana-Champaign, Urbana, IL

Paper No. IMECE2002-32081, pp. 925-934; 10 pages
doi:10.1115/IMECE2002-32081
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

Controller design methodologies based on a single controller are often unable to provide both high performance (i.e., tracking bandwidth) and desired robustness (i.e. retaining stability) in the presence of uncertainty or plant variation. This paper presents a hybrid control strategy to circumvent the basic trade-off between performance and robustness from an individual controller. This hybrid control strategy utilizes a robust controller for guaranteed robustness when the plant model is not well known, and makes an adaptive controller active for high performance after sufficient plant information has been collected on-line. To avoid a degraded transient after controller switching, a bumpless transfer scheme is designed and incorporated into this hybrid control strategy. This bumpless transfer design is a novel extension from a conventional latent tracking bumpless transfer design for a SISO plant with 1 DOF controllers to either a SISO plant with multiple DOF controllers or a MIMO plant. Experimental results implemented on an active vibration isolation testbed demonstrate the effectiveness of the hybrid control strategy including the bumpless transfer design.

Copyright © 2002 by ASME

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