Robust model following control for a class of second-order dynamical systems subject to parameter uncertainties

2008 ◽  
Vol 30 (2) ◽  
pp. 115-142 ◽  
Author(s):  
Guang-Ren Duan ◽  
Ling Huang
Keyword(s):  
Dynamical Systems ◽  
Second Order ◽  
Parameter Uncertainties ◽  
Model Following Control ◽  
Model Following ◽  
Robust Model

Adaptive Robust Model-Following Control and Application to Robot Manipulators

1987 ◽  
Vol 109 (3) ◽  
pp. 209-215 ◽  
Author(s):  
Y. H. Chen
Keyword(s):  
Dynamical System ◽  
Dynamical Systems ◽  
Robotic Manipulators ◽  
Time Varying ◽  
Feedback Controls ◽  
Adaptive Feedback ◽  
Model Following Control ◽  
Model Following ◽  
Uncertain Dynamical System ◽  
Robust Model

The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made.

Robust model reference control for second-order descriptor linear systems subject to parameter uncertainties

2021 ◽  
pp. 014233122110450
Author(s):  
Guang-Tai Tian ◽  
Guang-Ren Duan
Keyword(s):  
Linear Systems ◽  
Tracking Error ◽  
Sufficient Conditions ◽  
Second Order ◽  
Parameter Uncertainties ◽  
Robust Controller ◽  
Model Reference ◽  
Robust Model ◽  
Robust Compensation ◽  
Descriptor Linear Systems

This paper is devoted to designing the robust model reference controller for uncertain second-order descriptor linear systems subject to parameter uncertainties. The parameter uncertainties are assumed to be norm-bounded. The design of a robust controller can be divided into two separate problems: a robust stabilization problem and a robust compensation problem. Based on the solution of generalized Sylvester matrix equations, we obtain some sufficient conditions to guarantee the complete parameterization of the robust controller. The parametric forms are expressed by a group of parameter vectors which reveal the degrees of freedom existing in the design of the compensator and can be utilized to solve the robust compensation problem. In order to reduce the effect of parameter uncertainties on the tracking error vector, the robust compensation problem is converted into a convex optimization problem with a set of linear matrix equation constraints. A simulation example is provided to illustrate the effectiveness of the proposed technique.

Design of robust model following control with genetic algorithm

1999 ◽  
Vol 32 (2) ◽  
pp. 3337-3342 ◽  
Author(s):  
Y. Yamane ◽  
X. Zhang ◽  
R. Zhu ◽  
P.N. Nikiforuk
Keyword(s):  
Genetic Algorithm ◽  
Model Following Control ◽  
Model Following ◽  
Robust Model
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