Robust Control Design for an Uncertain Macroeconomic Dynamical System with Unknown Characteristics and Inequality Control Constraint

The stabilization problem of a macroeconomic dynamical system is considered in this paper. The main features of this system are that the system uncertainties may be unknown functions of state and time but with known bounds. Furthermore, the control inputs are subject to constraints, which is a salient feature in an economic control problem. To ensure that the controls are within the specified boundaries, in our control design procedure, a creative diffeomorphism, which converts bounded controls into unbounded corresponding signals by choosing an appropriate transformation function, is proposed. For the uncertain system, a deterministic robust control is designed to render the practical stability: uniform boundedness and uniform ultimate boundedness. The range of the input bounds is related to the uncertainties and can be designed according to the actual situation. Numerical simulations are performed to verify the effectiveness of the stabilization policy.

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A NEW ROBUST CONTROL DESIGN PROCEDURE BASED ON A PE IDENTIFICATION UNCERTAINTY SET

IFAC Proceedings Volumes ◽

10.3182/20020721-6-es-1901.00435 ◽

2002 ◽

Vol 35 (1) ◽

pp. 145-150 ◽

Cited By ~ 3

Author(s):

X. Bombois ◽

G. Scorletti ◽

B.D.O. Anderson ◽

M. Gevers ◽

P. Van den Hof

Keyword(s):

Robust Control ◽

Design Procedure ◽

Control Design ◽

Uncertainty Set ◽

Robust Control Design

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Nonlinear Robust Control Design for Levitation and Propulsion of a Maglev System in the Presence of Uncertain System Dynamics

AIAA Guidance, Navigation, and Control Conference and Exhibit ◽

10.2514/6.2004-4756 ◽

2004 ◽

Cited By ~ 1

Author(s):

Joseph Kaloust ◽

Chan Ham ◽

John Siehling ◽

Eric Jongekryg ◽

Qinghua Han

Keyword(s):

Robust Control ◽

System Dynamics ◽

Control Design ◽

Uncertain System ◽

Nonlinear Robust Control ◽

Maglev System ◽

Robust Control Design ◽

Nonlinear Robust

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Robust control design for home pension service mobile robots with passive and servo constraints

Science Progress ◽

10.1177/0036850420952219 ◽

2020 ◽

Vol 103 (3) ◽

pp. 003685042095221

Author(s):

Yating Zhao ◽

Xiaolong Chen ◽

Han Zhao

Keyword(s):

Robust Control ◽

Mobile Robots ◽

Control Design ◽

Uniform Boundedness ◽

Control Force ◽

Dynamics Modeling ◽

Ultimate Boundedness ◽

Uniform Ultimate Boundedness ◽

Robust Control Design ◽

Servo Constraints

This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.

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Identification, uncertainty modeling and robust controller design for an electromechanical actuator

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406215616141 ◽

2016 ◽

Vol 230 (20) ◽

pp. 3631-3641 ◽

Cited By ~ 1

Author(s):

Rafik Salloum ◽

Mohammad Reza Arvan ◽

Bijan Moaveni

Keyword(s):

Robust Control ◽

Controller Design ◽

Low Cost ◽

Design Procedure ◽

Control Design ◽

Uncertainty Modeling ◽

Feedback Compensation ◽

Robust Control Design ◽

High Dynamics ◽

Low Sensitivity

Electromechanical actuators (EMAs) are of interest for applications which require easy control and high dynamics. This paper addresses the experimental identification, structured and unstructured uncertainties modeling, and robust control design for an EMA system with harmonic drive. Two robust controllers are designed by two proposed approaches: The first is based on Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system but also maintains the pre-specified margins and bandwidth constraints. The second is feedback compensation design procedure based on H∞ control theory, verifying good tradeoff between the powerful H∞ controller and the unique features of feedback compensation, such as simplicity, effectiveness, low sensitivity to parameters variations, low cost, and easy implementation. Simulation and experiments prove the robustness and high tracking performance of the robust EMA systems which reveals the affectivity of the proposed robust control design methods.

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