The minimal control synthesis (MCS) algorithm is a kind of self-adaptive control algorithm, which has been widely used in automatic control field because of simple calculation, intuitive structure, good non-linear ability and the ability against antiinterference. In order to solve the problem of time-delay of vibration active control, which may cause the algorithm's instability problem, a time delay compensation factor is designed for improving the traditional MCS algorithm on the basis of the Smith predictor using the time-delay compensation principle. Then a controlled manipulator commonly used in industrial production is chosen for building the dynamic model and simulation study. The result shows that the improved MCS algorithm can not only overcome the problem of delaying buckling in an active vibration control strategy, but also has a good effect of delaying compensation control.

time delay compensation  /  minimal controller synthesis (MCS)  /  vibration control  /  smith estimates