Robust stability and control effort minimization by disturbance rejection

2015 ◽  
Author(s):  
Enrico Canuto ◽  
Donato Carlucci ◽  
Carlo Novara
Keyword(s):  
Robust Stability ◽  
Disturbance Rejection ◽  
Control Effort ◽  
Stability And Control ◽  
And Control

Robust stability and control for uncertain neutral time delay systems

2012 ◽  
Vol 85 (4) ◽  
pp. 373-383 ◽  
Author(s):  
R. Sakthivel ◽  
K. Mathiyalagan ◽  
S. Marshal Anthoni
Keyword(s):  
Time Delay ◽  
Robust Stability ◽  
Delay Systems ◽  
Time Delay Systems ◽  
Stability And Control ◽  
And Control

Hybrid Dynamical Systems: Robust Stability and Control

2006 ◽  
Author(s):  
Cai Chaohong ◽  
Goebel Rafal ◽  
G. Sanfelice Ricardo ◽  
R. Teel Andrew
Keyword(s):  
Dynamical Systems ◽  
Robust Stability ◽  
Hybrid Dynamical Systems ◽  
Stability And Control ◽  
And Control

Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Ramon Comasolivas ◽  
Joseba Quevedo ◽  
Teresa Escobet ◽  
Antoni Escobet ◽  
Juli Romera
Keyword(s):  
Mobile Robot ◽  
Pi Controller ◽  
Control Technique ◽  
Level Control ◽  
Parameter Uncertainties ◽  
Control Effort ◽  
Friction Forces ◽  
Low Level ◽  
Stability And Control ◽  
And Control

This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.

scholarly journals Special issue on robust stability and control of large-scale nonlinear systems

2012 ◽  
Vol 24 (1-2) ◽  
pp. 1-2 ◽  
Author(s):  
Sergey N. Dashkovskiy ◽  
Zhong-Ping Jiang ◽  
Björn S. Rüffer
Keyword(s):  
Nonlinear Systems ◽  
Robust Stability ◽  
Large Scale ◽  
Special Issue ◽  
Stability And Control ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document