Robust Position Command Shaping against Plant Perturbations under Constraint of State Variables

Abstract

This paper presents a novel position command shaping approach for mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in a plant may deteriorate the motion performance because the commands are generally shaped in a feedforward control manner. In this research, a linear matrix inequality (LMI) design framework is applied to eliminate the deterioration in positioning, where the robust command shaping against the plant perturbations can be directly achieved under the constraint of state variables in a system. The effectiveness of the proposed shaping has been verified by numerical simulations and experiments using a prototype.