Adaptive Suppression of Multiple Time-Varying Unknown Vibrations Using an Inertial Actuator

Ioan Doré Landau (1) , Marouane Alma (1) , John Jairo Martinez Molina (1) , Gabriel Buche (2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 GIPSA-Services - GIPSA-Services

An active vibration control system using an inertial actuator for suppression of multiple unknown and/or time-varying vibrations will be presented. The objective is to minimize the residual force by applying an appropriate control effort through the inertial actuator. The system does not use any additional transducer for getting in real-time information upon the disturbances. A direct feedback adaptive regulation scheme for the suppression of multiple unknown and/or time-varying vibrations will be used and evaluated in real time. It uses the internal model principle and the Youla-Kucera parametrization. In the Appendix, a comparison with an alternative indirect adaptive regulation scheme is presented.

Mots clés: Adaptive disturbance rejection; direct adaptive regulation; internal model principle; inertial actuators; Youla-Kucera parametrization.; multiple narrowband disturbances

Mots clés: Youla-Kucera parametrization

Domaines: Automatique / Robotique

Ioan Doré Landau, Marouane Alma, John Jairo Martinez Molina, Gabriel Buche. Adaptive Suppression of Multiple Time-Varying Unknown Vibrations Using an Inertial Actuator. IEEE Transactions on Control Systems Technology, 2011, 19 (6), pp.1327-1338. ⟨10.1109/TCST.2010.2091641⟩. ⟨hal-00576680⟩