Min-max Control for Vibration Suppression of Mobile Manipulator with Active Suspension System

This paper introduces a method to control the vibration of mobile manipulator on the vertical direction. When the mobile manipulation moves on uneven road, the road disturbance affects the manipulation system. It is important to suppress the disturbance for the stability of manipulation system. The vibration damping control method of a simplified double inverted pendulum model is designed to suppress vertical disturbance. In the double inverted pendulum model, the system matrix contains parameter uncertainty due to the simplification of the model. To control this system, we use static output feedback with min-max control. By using the static output feedback with min-max control, the desired closed-loop stability can be achieved while effectively suppressing disturbance even in the presence of system uncertainty. We measure the actual road disturbance by using an accelerometer. In the simulation, we prove the measured ground disturbance is successfully suppressed by using our control method and demonstrated effectiveness of proposed control method through comparative simulations with LQR control.

Automated summary

This paper introduces a method to control the vertical vibration of a mobile manipulator by designing a vibration damping control method of a simplified double inverted pendulum model. The method uses static output feedback with min-max control to achieve desired closed-loop stability and effectively suppress disturbance, even in the presence of system uncertainty. The effectiveness of the proposed control method is demonstrated through simulations comparing with LQR control.