Robust Vibration Attenuation for Autonomous Robotic Observation Systems

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00387125" target="_blank" >RIV/68407700:21230/25:00387125 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.ifacol.2025.10.172" target="_blank" >https://doi.org/10.1016/j.ifacol.2025.10.172</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2025.10.172" target="_blank" >10.1016/j.ifacol.2025.10.172</a>

Result language

angličtina

Original language name

Robust Vibration Attenuation for Autonomous Robotic Observation Systems

Original language description

Advanced behavioural studies for social insects such as honeybees demand high-precision mechatronic systems to perform uninterrupted observations. This paper proposes a robust framework to attenuate the vibration generated by the mechatronic part of the Autonomous Robotic Observation and Behavioural Analysis (AROBA) system. The vibration attenuation method proposed in this paper incorporates the output feedback Hinfinity approach for input shaping of the acceleration commands to the drive system. The controller is designed based on the state space system identification results for an unknown order linear time-invariant (LTI) model. The output feedback Hinfinity is applied to compensate for the modelling uncertainties while regulating the vibration. The results showcase the robust performance obtained from the experiments with the AROBA mechatronic system. The closed-loop system achieved an average vibration signal power below -60 dB which is significantly lower than the value that is not disturbing the bees' behaviour according to the studies in this field.

Czech name

—

Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

R - Projekt Ramcoveho programu EK

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IFAC-PapersOnLine

ISBN

—

ISSN

2405-8971

e-ISSN

2405-8963

Number of pages

6

Pages from-to

251-256

Publisher name

Elsevier BV

Place of publication

Linz

Event location

Paris

Event date

Jul 15, 2025

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001612020000044