The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis...
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters...
The synthesis of a feedforward unit for optimal decoupling of measurable or previewed signals in discrete-time linear time-invariant systems is considered. It is shown that an optimal compensator can be achieved by connecting a finite impulse response (FIR) system and a stable dynamic unit. To derive the FIR system convolution profiles an easily implementable computational scheme based on pseudoinversion (possibly nested to avoid computational constraints) is proposed, while the dynamic unit...
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