Decoupling analysis and decoupling control of vibration isolation platform with eight actuators

In this paper, the dynamic behavior of a symmetric vibration isolation platform with eight actuators is analyzed. This platform displays a much simple dynamic behavior when the payload's principal axes of inertia parallel with the platform's axes of symmetry and the payload's center of mass is at the extension line of the platform's central axis. Dynamics of the platform can be decomposed into two independent single-input single-output channels and two two-input two-output subsystems. Then the two-input two-output subsystems are decoupled further by simultaneous diagonalization. Results of simulation show that decoupling control can achieve an obvious improvement on the vibration, attenuation and has a satisfied performance.