Abstract
Modular actuation units’ development dramatically expands the compatibility and expandability of the modular active vibration isolation system (MAVIS) in space missions. However, due to the current shortness of a unified framework, manipulating such a redundantly actuated multi-input-multi-output (MIMO) nonlinear system assembled by modular units often involves painstaking challenges and repetitive trial. We proposed a unified coordinated manipulation and multi-objective vibration control framework with the ultimate goal of effectively vibration isolation for such systems. This framework, built on a general model and inherently coupling analysis, incorporates optimized manipulation with inversion system improved multi-objective control. Compared with the traditional multivariable feedback control, this framework effectively reduces the controller’s order while ensuring the system’s multiple objectives and frequency constraints. Experiments and simulations demonstrate the effectiveness of the proposed framework in achieving coordinated manipulation and vibration attenuation on a physical system and indicate the potential role of its application for a family of modular active vibration isolation systems.
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