Hybrid control of motion and vibration for smart flexible-link mechanism

Technology of smart structures is introduced in the flexible-link system to conduct the vibration control. The smart flexible-link is composed of two flexible-links and piezoelectric films which have the sensor/actuator function for itself. An approach for hybrid control of motion and vibration is proposed in which a large magnitude and slow vibration is controlled by the servomotors and a minute vibration is controlled by the piezoelectric film actuators. The motion and vibration controller for the servomotor is designed with the mixed H₂/H_∞ control problem and the vibration controller for the piezoelectric films is constructed by a direct velocity feedback, resulting in the enhanced performance on the motion and vibration control.