In order to reduce the controller gain and improve performance we propose a new approach based on partitioning the set of uncertain parameters into smaller subsets.
This improves the scalability by reducing the controller synthesis time.
If the trajectories to track are not sufficiently regular, suitable filtering laws are proposed for these trajectories, so as to facilitate the implementation of the controller and reduce the control action especially during the transient phase.
Second, even though the hybrid pinning adaptive control can reduce the number of controllers, it cannot reduce the control cost.
Numerical analyses results show that the proposed controller reduces the maximum required control force considerably compared to the linear controller for the same displacement reduction, and the proposed approximation of the failure probability is considerably accurate.
Compared to the conventional approach where a notch filter is placed and tuned in each of the separate control loops, the new approach reduces the order of the controller significantly and facilitates the design process.
The nonlinear feedforward control reduces the rise time of the controller response while the feedback control ensures robustness in the presence of model uncertainty.
When the structure is forced in the neighborhood of its resonance, the controller reduces the structure response.
The controller reduces the transmission of platform jitter, modeled as a multi-tonal signal plus broadband noise, to the laser beam.
The structured approach proposed in this paper (where kinematic and dynamic equations are handled separately), reduces the complexity of the controller structure.
