Stability and robustness analysis of flow source control

A new active control method based on flow source control to suppress the vibration of the system composed of a rigid body motion and a flexible body motion is proposed. The proposed flow source controller generates a control input of a displacement instead of a torque that is an effort source control input. It is shown that the proposed flow source control improves the vibration suppression performance when disturbance forces such as a friction forces are involved in the rigid body motion dynamics. The stability and the robustness to disturbance forces of the flow source controller are compared with an effort source controller. The state feedback control and the PD control are used for the flexible body motion and the rigid body motion control, respectively. The proposed flow source vibration controller shows superior control performances to effort source control methods