Active vibration controller design and comparison study of flexible linkage mechanism systems

Three active vibration controller design methodologies include the reduced modal controller, the classical and the robust H∞ controller for the high-speed flexible linkage mechanism systems with piezoelectric actuators and sensors are investigated. Firstly, the state space form control model is formulated based on the complex mode theory. Secondly, the reduced modal controller, the classical and the robust H∞ controller are designed. Finally, numerical simulations are carried out on a 4-bar linkage mechanism. The simulation results show that the vibration of the system is significantly suppressed with permitted actuator input voltages by each of the three controllers. The reduced modal control makes it more convenient to increase the modal damping of the system than that of the H∞ control does, while the robust H∞ control can avoid the spillover due to mode truncation.