Robust Vibration Attenuation for Autonomous Robotic Observation Systems

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 H ∞ 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 H ∞ 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.