Two-degree-of-freedom robust control with application in the non-circular turning

2006 ◽  
Author(s):  
Liu Hongbin ◽  
Hu Dejin
Keyword(s):  
Robust Control ◽  
Degree Of Freedom ◽  
Two Degree Of Freedom

Error Dynamics Design via a Repetitive Loop for UDE-Based Robust Control to Reject Periodic Disturbances

2020 ◽  
Author(s):  
Yeqin Wang ◽  
Yiting Dong ◽  
Jiguo Dai ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Robust Control ◽  
Disturbance Rejection ◽  
Degree Of Freedom ◽  
Practical Implementation ◽  
Reference Tracking ◽  
Charging System ◽  
Internal Model Principle ◽  
Periodic Disturbances ◽  
Error Dynamics ◽  
Two Degree Of Freedom

Abstract The uncertainty and disturbance estimator (UDE)-based robust control has a two-degree-of-freedom nature through the design of the error dynamics and the design of the UDE filters. In the conventional design to handle periodic disturbances or mixed sinusoidal disturbances, high-order UDE filters incorporated with the internal model principle (IMP) or time-delay filters (TDF) are adopted to achieve the asymptotic reference tracking and the asymptotic disturbance rejection. In this paper, a new error dynamics design combined with a repetitive loop is proposed for the UDE-based robust control to achieve the asymptotic rejection of both step disturbances and periodic disturbances. The disturbance rejection performance is investigated through the two-degree-of-freedom nature, and the practical implementation of the proposed design is illustrated to eliminate the infinite bandwidth of the repetitive loop. The proposed design is validated through the simulation studies of a battery charging system with comparison to different reported designs of the conventional UDE-based robust control.

scholarly journals MULTIOBJECTIVE SYNTHESIS OF TWO DEGREE OF FREEDOM NONLINEAR ROBUST CONTROL BY DISCRETE CONTINUOUS PLANT

2020 ◽  
Vol 2020 (5) ◽  
pp. 10-14
Author(s):  
B.I. Kuznetsov ◽  
◽  
T.B. Nikitina ◽  
I.V. Bovdui ◽  
◽  
...  
Keyword(s):  
Robust Control ◽  
Degree Of Freedom ◽  
Nonlinear Robust Control ◽  
Continuous Plant ◽  
Two Degree Of Freedom ◽  
Nonlinear Robust

scholarly journals Robust Control Method for Industrial Robot Manipulators with Flexible Joints. Application of State Observer and Two-Degree-of-Freedom Controller.

1994 ◽  
Vol 12 (3) ◽  
pp. 466-471 ◽  
Author(s):  
Yoshiharu Nishida ◽  
Toshihiko Nishimura ◽  
Koichi Honke ◽  
Hiroshi Nakagami ◽  
Yoshinori Imaizumi ◽  
...  
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
State Observer ◽  
Degree Of Freedom ◽  
Flexible Joints ◽  
Two Degree Of Freedom

Robust Control of a Flexible Arm

1994 ◽  
Vol 6 (3) ◽  
pp. 214-219
Author(s):  
Kang-Zhi Liu ◽  
◽  
Koji Higaki ◽  
Tsutomu Mita
Keyword(s):  
Robust Control ◽  
Control Theory ◽  
Vibration Control ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Matching Method ◽  
Robust Controller ◽  
Flexible Arm ◽  
Feedforward Controller ◽  
Two Degree Of Freedom

This paper addresses the vibration control of a flexible arm with a two-degree-of-freedom robust controller. The feedback controller is designed by <I>H</I>∞ control theory to achieve robust distrubance attenuation, and the feedforward controller is designed by a signal-matching method to improve the trasient response. An experiment verifies that this methodology is effective.

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