Asymptotic rejection of nonvanishing disturbances despite plant-model mismatch

In robotics, despite considerable effort to minimize system modelling errors, uncertainties are always present and sometimes significant. In this paper, modelling errors are first represented by a class of bounded disturbances in the input channels (torques) of the robot. A measure of the robot system's ability to reject these disturbances is formulated in an L2 gain sense and a control design is subsequently proposed to achieve optimal disturbance rejection. If more detailed information is available on the plant-model mismatch, then the control design can be modified to incorporate an adaptive scheme (with explicit parameter updating laws) in order to reduce the conservativeness of the original design and to improve robust performance of the overall system.

Download Full-text

Plant-model mismatch evaluation for unconstrained MPC with state estimation

2017 IEEE 56th Annual Conference on Decision and Control (CDC) ◽

10.1109/cdc.2017.8264591 ◽

2017 ◽

Cited By ~ 1

Author(s):

Jodie M. Simkoff ◽

Siyun Wang ◽

Michael Baldea ◽

Leo H. Chiang ◽

Ivan Castillo ◽

...

Keyword(s):

State Estimation ◽

Plant Model ◽

Model Mismatch

Download Full-text

Adaptation strategies for tracking constraints under plant-model mismatch

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2018.09.254 ◽

2018 ◽

Vol 51 (18) ◽

pp. 833-838

Author(s):

Martand Singhal ◽

Timm Faulwasser ◽

Dominique Bonvin

Keyword(s):

Adaptation Strategies ◽

Plant Model ◽

Model Mismatch

Download Full-text

Data‐driven plant‐model mismatch estimation for dynamic matrix control systems

International Journal of Robust and Nonlinear Control ◽

10.1002/rnc.5162 ◽

2020 ◽

Vol 30 (17) ◽

pp. 7103-7129

Author(s):

Xiaodong Xu ◽

Jodie M. Simkoff ◽

Michael Baldea ◽

Leo H. Chiang ◽

Ivan Castillo ◽

...

Keyword(s):

Control Systems ◽

Data Driven ◽

Dynamic Matrix Control ◽

Plant Model ◽

Dynamic Matrix ◽

Model Mismatch ◽

Matrix Control

Download Full-text

Data-Driven Plant-Model Mismatch Quantification in Input-Constrained Linear MPC

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2016.07.211 ◽

2016 ◽

Vol 49 (7) ◽

pp. 25-30 ◽

Cited By ~ 1

Author(s):

Siyun Wang ◽

Jodie M. Simkoff ◽

Michael Baldea ◽

Leo H. Chiang ◽

Ivan Castillo ◽

...

Keyword(s):

Data Driven ◽

Plant Model ◽

Model Mismatch

Download Full-text

Theory and Application of the Lang-Gilles Observer for Distillation Processes

10.51202/9783186253088 ◽

2016 ◽

Author(s):

Maxim Stuckert

Keyword(s):

Model Predictive Control ◽

Predictive Control ◽

Distillation Column ◽

Simulation Studies ◽

Multicomponent Mixtures ◽

Plant Model ◽

Model Mismatch ◽

Tray Efficiency ◽

Full State ◽

On Line

This thesis deals with the nonlinear full state observer for distillation processes first introduced by Lang and Gilles in 1990. The observer is very attractive in practice as it requires only few temperature measurements in each section of a distillation column and only few observer parameters need to be tuned. We provide conditions under which this observer converges and derive a simple rule for the tuning of the observer parameters. We also give a method for the on-line estimation of the Murphree tray efficiency. Such on-line methods are rarely found in literature. In a sequence of simulation studies, we investigate the capabilities of the observer for the estimation of the tray efficiency and for model-predictive control. The simulation studies are based on distillation processes for separation of multicomponent mixtures and one of the studies introduces a plant-model mismatch. ...

Download Full-text