Design of the vibration control system for the push cart by utilizing direct inertia force control

Push carts are a convenient means of transportation. However, the transmission of vibrations to the transported materials when passing over bumps presents a significant issue. To solve this issue, we applied center of percussion (COP) to the casters. Furthermore, residual vibrations are reduced by installing an Inertia Force Generator (IFG) on the loading platform and applying control forces using Direct Inertia Force Control (DIFC). In previous studies, installing four IFGs on a loading platform and implementing a Direct Velocity Feedback (DVFB) control system based on DIFC was shown to reduce damping time. This study aims to enhance performance by extending the current Single-Input Single-Output vibration control system to a Four-Input Four-Output system. The Four-Input Four-Output vibration control system is designed using H-infinity control to enhance performance, ensure robustness to model uncertainties, and allow control design over specified frequency ranges. This report presents the design of the Four-Input Four-Output vibration control system based on H-infinity control theory and evaluates the performance of the obtained controller through impulse response simulations. Simulation results showed that the designed controller significantly reduced the damping time.