H-INFINITY ROBUST-CONTROL OF FLEXIBLE MANIPULATOR VIBRATION BY USING A PIEZOELECTRIC-TYPE SERVO-DAMPER

Abstract

An H(infinity) controller design scheme based on the matrix fraction stability condition is proposed for the vibration control of a flexible manipulator, which has the matrix fraction uncertainty. The proposed controller is then applied to the cantilever bearn with a piezoelectric-type servo-damper so that the vibration at the free end of the beam is effectively suppressed, while its effective length slowly changes.