1 research outputs found
Payload-agnostic Decoupling and Hybrid Vibration Isolation Control for a Maglev Platform with Redundant Actuation
Payload-specific vibration control may be suitable for a particular task but
lacks generality and transferability required for adapting to the various
payload. Self-decoupling and robust vibration control are the crucial problems
to achieve payload-agnostic vibration control. However, there are problems
still unsolved.
In this article, we present a maglev vibration isolation platform (MVIP),
which aims to attenuate vibration in the payload-agnostic task under a dynamic
environment. Since efforts trying to suppress disturbance will encounter
inevitable coupling problems, we analyzed the reasons resulting in it and
proposed unique and effective solutions.
To achieve payload-agnostic vibration control, we proposed a new control
strategy, which is the main contribution of this article. It consists of a
self-construct radial basis function neural network inversion (SRBFNNI)
decoupling scheme and hybrid adaptive feed-forward internal model control
(HAFIMC). The former one enables the MVIP to create a self inverse model with
little prior knowledge and achieving self-decoupling. For the unique structure
of MVIP, the vibration control problem is stated and addressed by the proposed
HAFIMC, which utilizes the adaptive part to deal with the periodical
disturbance and the internal mode part to deal with the stability.Comment: This is a preprint which has been submitted to Mechanical Systems and
Signal Processin