scholarly journals Nonlinear Robust Controller Design for Multi-Robot Systems with Unknown Payloads

2005 ◽  
Author(s):  
Y.D. Song ◽  
J.N. Anderson ◽  
A. Homaifar ◽  
H.Y. Lai
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Robot Systems ◽  
Robust Controller Design ◽  
Nonlinear Robust ◽  
Multi Robot

scholarly journals Nonlinear robust controller design based on H ∞ I/O linearization and μ -synthesis

1999 ◽  
Vol 32 (2) ◽  
pp. 3085-3090 ◽  
Author(s):  
Shr-Shiung Hu ◽  
B.C. Chang ◽  
H.H. Yeh ◽  
H.G. Kwatny
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Robust Controller Design ◽  
Nonlinear Robust

scholarly journals A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection

2016 ◽  
Vol 2016 ◽  
pp. 1-7 ◽  
Author(s):  
Guoqing Xia ◽  
Jingjing Xue ◽  
Ang Guo ◽  
Caiyun Liu ◽  
Xinghua Chen
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Wind Waves ◽  
Control Process ◽  
Error Feedback ◽  
Matlab Simulation ◽  
Robust Controller ◽  
Environmental Disturbances ◽  
Robust Controller Design ◽  
Nonlinear Robust

In ship motion control process, it is difficult to design ship controller due to the effects of environmental disturbances such as wind, waves, current, and unmodelled dynamics. In order to solve these problems, a nonlinear robust controller based on L2-gain disturbance rejection is proposed in this paper. To steer ships to the desired position, an error feedback control law on account of Lyapunov functions is designed. Then, to satisfy the L2-gain disturbance rejection, proper parameters are chosen based on the system dissipative property. In order to verify the performance of the proposed controller, the MATLAB simulation results in two situations which are without and with the effects of environmental disturbances are demonstrated.

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