Active control of shock by gain scheduling

In this paper, we deal with the active control of shock caused by the collision between two objects so as to make the deformation of the shock-receiving object large and the deformation of the shock-giving object small. Since the shock-receiving object deforms from the elastic range to the plastic range, we formulate a linear parameter-varying system to cover all the ranges and apply gain-scheduled (GS) control. Also, we utilize a frequency weighting function with varying gain in order to improve the performance of shock control. The GS control system exerts a continuous input when the deformation of the shock-receiving object changes from the elastic range to the plastic range. It is verified experimentally that the designed GS controller is effective for the active control of shock and that the plastic deformation ratio between the two objects is increased.