scholarly journals H∞Optimal Inversion Feedforward and Robust Feedback Based 2DOF Control Approach for High Speed-Precision Positioning Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Chao Peng ◽  
Chongwei Han ◽  
Jianxiao Zou ◽  
Guanghui Zhang
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Positioning Error ◽  
Precision Positioning ◽  
Positioning Systems ◽  
Control Approach ◽  
Lmi Optimization ◽  
Feedforward Controller

This paper proposed a novelH∞optimal inversion feedforward and robust feedback based two-freedom-of-freedom (2DOF) control approach to address the positioning error caused by system uncertainties in high speed-precision positioning system. To minimize theH∞norm of the positioning error in the presence of model uncertainty, a linear matrix inequality (LMI) synthesis approach for optimal inversion feedforward controller design is presented. The specification of position resolution, control width, robustness, and output signal magnitude imposed on the entire 2DOF control system are taken as optimization objectives of feedback controller design. The robust feedback controller design approach integrates with feedforward controller systematically and is obtained via LMI optimization. The proposed approach was illustrated through a simulation example of nanopositioning control in atomic force microscope (AFM); the experiment results demonstrated that the proposed 2DOF control approach not only achieves the performance specification but also could improve the positioning control performance compared withH∞mixed sensitivity feedback control and inversion-based 2DOF control.

Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example

2002 ◽  
Vol 124 (4) ◽  
pp. 704-709 ◽  
Author(s):  
Jin-Hua She ◽  
Xin Xin ◽  
Yasuhiro Ohyama
Keyword(s):  
Tracking Control ◽  
Controller Design ◽  
Design Method ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Linear Matrix ◽  
Sampled Data ◽  
Feedforward Controller ◽  
Two Degree Of Freedom ◽  
Digital Tracking

A design method for digital tracking control is described and applied to control an arm robot with structured uncertainties. A two-degree-of-freedom control system configuration provides the desired feedback and input-output performances independently. Regarding controller design, first, sampled-data H∞ control and linear matrix inequality approaches are used to design a reduced-order output feedback controller. Then, the feedforward controller is parameterized based on the feedback controller, with the free parameter being chosen based on a preview strategy.

Robust H2 Output Feedback Controller Design for Damping Power System Oscillations

2017 ◽  
Vol 6 (10) ◽  
pp. 8
Author(s):  
Kho Hie Kwee ◽  
Hardiansyah .
Keyword(s):  
Power System ◽  
Output Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Worst Case ◽  
Output Feedback Controller ◽  
Power System Oscillations

This paper addresses the design problem of robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers with norm-bounded parameter uncertainties are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) power system. The LMI based control ensures adequate damping for widely varying system operating.

scholarly journals Output feedback controller design for polynomial linear parameter varying system via parameter-dependent Lyapunov functions

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401769032 ◽  
Author(s):  
Xiaobao Han ◽  
Zhenbao Liu ◽  
Huacong Li ◽  
Xianwei Liu
Keyword(s):  
Output Feedback ◽  
Optimization Problem ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Output Feedback Controller ◽  
Parameter Varying ◽  
Parameter Dependent

This article presents a new output feedback controller design method for polynomial linear parameter varying model with bounded parameter variation rate. Based on parameter-dependent Lyapunov function, the polynomial linear parameter varying system controller design is formulated into an optimization problem constrained by parameterized linear matrix inequalities. To solve this problem, first, this optimization problem is equivalently transformed into a new form with elimination of coupling relationship between parameter-dependent Lyapunov function, controller, and object coefficient matrices. Then, the control solving problem was reduced to a normal convex optimization problem with linear matrix inequalities constraint on a newly constructed convex polyhedron. Moreover, a parameter scheduling output feedback controller was achieved on the operating condition, which satisfies robust performance and dynamic performances. Finally, the feasibility and validity of the controller analysis and synthesis method are verified by the numerical simulation.

L2 gain state derivative feedback control of uncertain vehicle suspension systems

2017 ◽  
Vol 24 (16) ◽  
pp. 3779-3794 ◽  
Author(s):  
Hakan Yazici ◽  
Mert Sever
Keyword(s):  
Ride Comfort ◽  
Controller Design ◽  
Parametric Uncertainty ◽  
Feedback Controller ◽  
Vehicle Suspension ◽  
Space Representation ◽  
Linear Matrix ◽  
Feedback Controllers ◽  
State Space Representation ◽  
Tire Stiffness

This paper is concerned with the design of a robust L2 gain state derivative feedback controller for an active suspension system. An uncertain quarter vehicle model is used to analyze vehicle suspension performance. Parametric uncertainty is assumed to exist in sprung mass, tire stiffness and suspension damping coefficients. Polytopic type state space representation is used to enable robust controller design via a linear matrix inequalities (LMIs) framework. Then nominal and robust L2 gain state derivative feedback controllers having bounded controller gains and robust L2 gain state feedback controllers are tested against ISO2631 random road disturbances with different road grades and vehicle horizontal velocities. Simulation results show that the proposed robust L2 gain state derivative feedback controller is very effective in improving ride comfort without deterioration on road holding ability.

scholarly journals Observer-Based Decentralized Tracking Control with Preview Action for a Class of Nonlinear Interconnected Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xiao Yu
Keyword(s):  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
State Feedback Control ◽  
Control Action ◽  
Linear Matrix ◽  
Reference Trajectory ◽  
Integral Control ◽  
Control Approach ◽  
Output Tracking Control

In this paper, for the first time, the observer-based decentralized output tracking control problem with preview action for a class of interconnected nonlinear systems is converted into a regulation problem for N augmented error subsystems composed of the tracking error dynamics, the difference equation of the state observer, and the available future reference trajectory dynamics associated with each individual subsystem. The developed innovative formulation of an observer-based decentralized preview tracking control scheme consists of the integral control action, the observer-based state feedback control action, and the preview action of the desired trajectory. The controller design feasibility conditions are formulated in terms of a linear matrix inequality (LMI) by using the Lyapunov function approach to ensure the existence of the suggested observer-based decentralized control strategy. Furthermore, both decentralized observer gain matrices and decentralized tracking controller gain matrices can be efficiently and simultaneously computed through a one-step LMI procedure. Stability analysis of the closed-loop augmented subsystem is carried out to illustrate that all tracking errors asymptotically converge toward zero. Finally, a numerical example is provided to demonstrate the effectiveness of the suggested control approach.

scholarly journals Robust Mixed H2/H∞ State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay

Processes ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 359
Author(s):  
Nan Liu ◽  
Hui Pang ◽  
Rui Yao
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Actuator Saturation ◽  
Output Feedback Control ◽  
Active Suspension ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Approach ◽  
State Feedback Controller

In order to achieve better dynamics performances of a class of automobile active suspensions with the model uncertainties and input delays, this paper proposes a generalized robust linear H2/H∞ state feedback control approach. First, the mathematical model of a half-automobile active suspension is established. In this model, the H∞ norm of body acceleration is determined as the performance index of the designed controller, and the hard constraints of suspension dynamic deflection, tire dynamic load and actuator saturation are selected as the generalized H2 performance output index of the designed controller to satisfy the suspension safety requirements. Second, a generalized H2/H∞ guaranteed cost state-feedback controller is developed in terms of Lyapunov stability theory. In addition, the Cone Complementarity Linearization (CCL) algorithm is employed to convert the generalized H2/H∞ output-feedback control problem into a finite convex optimization problem (COP) in a linear matrix inequality framework. Finally, a numerical simulation case of this half-automobile active suspension is presented to illustrate the effectiveness of the proposed controller in frequency-domain and time-domain.

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