Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC

抄録

This paper proposes an active vibration-suppression control method for the systems with multiple disturbances using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect the system simultaneously. The added device plays a similar role as an accelerometer, but we avoid the algebraic loop. The main idea of the feedback law is to convert a nonlinear system into an aseismatic desired system by using the energy shaping technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example.