Optimal static decoupling for the decentralized control : an experimental study

C. Ding, M. Gajdusek, A.A.H. Damen, P.P.J. Bosch, van den

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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A three Degrees-Of-Freedom (DOF) vibration isolation system with a certain degree of symmetry shows significant cross coupling. The decentralized control is intended and it demands excellent decoupling performance. The Vaes optimization algorithm is applied to find the optimal static decoupling matrices. However, experiments show that the measured m interaction measure is not consistent with calculation results and thus not optimized. An iterative procedure based on the Vaes algorithm is proposed to obtain the optimal static decoupling matrices. The Vaes algorithm is also modified to improve the numerical stability and to speed up the optimization process. The proposed iterative procedure and the modified Vaes optimization algorithm are validated on the 3-DOF vibration isolation system.
Originele taal-2Engels
TitelProceedings of the 18th World Congress of the International Federation of Automatic Control (IFAC), 28 August - 2 September 2011, Milan, Italy
Plaats van productieMilan, Italy
StatusGepubliceerd - 2011

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