H∞ control of chatter in octahedral hexapod machine

Some preliminary results are presented on the active chatter control of a new type of milling machine called octahedral hexapod machine. The new machine is expected to achieve two times higher metal removal rate and, at the same time, to keep the cost close to conventional numerically controlled machines. Such performance can be achieved through advanced modern controller design and the use of smart actuators. To reduce the computation requirements for implementing the controllers, a decoupled H_∞ controller is proposed to suppress the chatter. Extensive simulations show that significant performance improvement has been achieved