Robust Command Shaping for Positioning Control of Time-varying Flexible Structure Considering Structured Uncertainty

This paper presents a synthesis method of a robust input that simultaneously controls position and vibration of a time- varying flexible structure. The robust input is synthesized as a type of feedforward control input taking into consideration of its practical uses and it is calculated through the numerical calculation that simulates a feedback control by using the nonstationary robust controller designed on the basis of a time-varying generalized plant with a structured uncertainty. Further, this input becomes independent of positioning distance and time schedule by the proposed design procedure. The performance of vibration suppression and robustness against parameter variation in the proposed methodology are examined in the numerical calculation compared with those of a previous method. Finally, the usefulness of the proposed input is obtained, and the specific procedure for synthesizing and implementing the input is also presented.