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Nonlinear Loopshaping for Robust Active Vibration Isolation
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AI
DOI：10.1016/j.ifacol.2025.10.168.png)
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Nonlinear controllers can alleviate inherent design trade-offs in linear control. The aim of this paper is to experimentally demonstrate the potential of nonlinear controllers in alleviating the trade-of between performance and robustness resulting from Bode's gain-phase relationship. To this end, we exploit a so-called split-path nonlinear element that decouples gain and phase characteristics, thereby offering additional degrees of freedom in design. We design the filter using a heuristic loopshaping technique, and implement it on an active vibration isolation system. Experimental results demonstrate the possibility to tolerate significant parameter variations while maintaining performance comparable to that of a linear control system. Copyright (c) 2025 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
Keyword:
Mechatronics
Nonlinear control
Robustness
Vibration isolation
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论文数:
985
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