Linear Structure Vibration Control Using MFT and Robust Kalman-Filter-Based OMFC Method

Abstract

ABSTRACTThis paper proposes a robust Kalman-filter-based optimal model-following control (OMFC) methodology for actively suppressing the vibration of the mechanical structure system, which is modeled by the modal force technique (MFT) and subjects to both disturbance/noise uncertainties and linear structured time-varying parameter perturbations. The proposed method can not only avoid the problem of how to choose appropriate weighting matrices in the quadratic cost function of the linear quadratic Gaussian (LQG) control but also make the controlled closed-loop system to have desired system response characteristics. Besides, this paper also presents a robust stability criterion to guarantee that the designed controller can keep the controlled mechanical structure system from the possibility of time-varying-parameter-perturbation-induced instability. An example of L-shaped cantilever beam structure system is employed to demonstrate the application of the proposed method and the use of the robust stability criterion. Numerical simulation is performed to evaluate the improvement of the vibration response.