Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis.pdfVIP

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Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis.pdf

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Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis

Chinese Journal of Aeronautics Chinese Journal of Aeronautics 21(2008) 125-133 /locate/cj a Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis Liu Lei, Wang Benli* Research Institute of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China Received 29 June 2007; accepted 13 October 2007 Abstract Active vibration control is needed for future space telescopes, space laser communication and other precision sensitive payloads which require ultra-quiet environments. A Stewart platform based hybrid isolator with 6 hybrid struts is the effective system for ac- tive/passive vibration isolation over 5-250 Hz band. Using an identification transfer matrix of the Stewart platform, the coupling analysis of six channels is provided. A dynamics model is derived, and the rigid mode is removed to keep the signal of pointing control. Multi objective robust H∞ and μ synthesis strategies, based on singular values and structured singular values respectively, are presented, which simultaneously satisfy the low frequency pointing and high frequency disturbance rejection requirements and take account of the model uncertainty, parametric uncertainty and sensor noise. Then, by performing robust stability te