Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

2012 ◽  
Author(s):  
Hui Tang ◽  
Yangmin Li ◽  
Qinmin Yang
Keyword(s):  
Tracking Control ◽  
Loop Shaping ◽  
Plant Uncertainty

Vibration and Position Tracking Control of Piezoceramic-Based Smart Structures Via QFT

1999 ◽  
Vol 121 (1) ◽  
pp. 27-33 ◽  
Author(s):  
Seung-Bok Choi ◽  
Seung-Sang Cho ◽  
Young-Pil Park
Keyword(s):  
Tracking Control ◽  
External Disturbance ◽  
Smart Structure ◽  
Position Tracking ◽  
Control Input ◽  
Performance Bounds ◽  
Output Displacement ◽  
Piezoceramic Actuator ◽  
Position Tracking Control ◽  
Plant Uncertainty

This paper presents robust vibration and position tracking control of a flexible smart structure featuring a piezoceramic actuator. A cantilever beam structure with a surface-bonded piezoceramic actuator is proposed, and its governing equation of motion and associated boundary conditions are derived from Hamilton’s principle. The transfer function from control input voltage to output displacement is then established in Laplace domain considering the hysteresis behavior as a structured plant uncertainty. A robust QFT (quantitative feedback theory) compensator is designed on the basis of a stability criterion which prescribes a bound on the peak value of an M-contour in the Nichols chart (NC). In the formulation of the compensator, disturbance rejection specification and tracking performance bounds are specified to guarantee the robustness of the system to the plant uncertainty and external disturbance. A prefilter is also designed for the improvement of step and sinusoidal tracking control performances. Forced-vibration and tracking control performances are investigated through computer simulation and experimental implementation in order to demonstrate the efficiency and robustness of the proposed control methodology.

H∞ tracking control for an inverted pendulum

2018 ◽  
Vol 24 (16) ◽  
pp. 3515-3524 ◽  
Author(s):  
M Ashok Kumar ◽  
S Kanthalakshmi
Keyword(s):  
Weight Function ◽  
Tracking Control ◽  
Inverted Pendulum ◽  
Weight Functions ◽  
Pendulum System ◽  
Shaping Technique ◽  
Inverted Pendulum System ◽  
Loop Shaping ◽  
Loop Transfer Function ◽  
And Performance

The objective of this paper is to design an [Formula: see text] controller for an inverted pendulum system, synthesized using the [Formula: see text] loop shaping technique. In the [Formula: see text] loop shaping technique, a linear plant model is augmented with certain weight functions, such as the sensitivity weight function and complementary sensitivity weight function, so that the closed loop transfer function of the plant will have the desired performance. In this work, the [Formula: see text] controller is synthesized and the analysis on robustness and performance of the system is done by taking the singular value response and robustness indicator plots.

Nonlinear Tracking Control of Spacecraft with MPC: LPV Approach

2016 ◽  
Vol 15 (0) ◽  
pp. 133-140
Author(s):  
Atsushi SAKAMOTO ◽  
Yuichi IKEDA ◽  
Isao YAMAGUCHI ◽  
Takashi KIDA
Keyword(s):  
Tracking Control ◽  
Nonlinear Tracking
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