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

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

Complexity ◽

10.1155/2021/8826480 ◽

2021 ◽

Vol 2021 ◽

pp. 1-13

Author(s):

Xiaorui Xie ◽

Ye-Hwa Chen

Keyword(s):

Dynamical System ◽

Robust Control ◽

Design Procedure ◽

Control Design ◽

Uniform Boundedness ◽

Salient Feature ◽

Uncertain System ◽

Stabilization Policy ◽

Bounded Controls ◽

Robust Control Design

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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Adaptive calibration: An approach to uncertainty modeling and on-line robust control design

10.1109/cdc.1986.267299 ◽

1986 ◽

Cited By ~ 14

Author(s):

Robert Kosut

Keyword(s):

Robust Control ◽

Control Design ◽

Uncertainty Modeling ◽

Adaptive Calibration ◽

On Line ◽

Robust Control Design

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Robust controller design for a three-shaft industrial gas turbine in the infinite grid power generation

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331219876757 ◽

2019 ◽

Vol 42 (1) ◽

pp. 131-156

Author(s):

Abdollah Mehrpanahi ◽

Mohammadreza Arbabtafti ◽

Gholamhassan Payganeh

Keyword(s):

Power Generation ◽

Robust Control ◽

Gas Turbine ◽

Gas Turbines ◽

Controller Design ◽

Control Design ◽

Robust Controllers ◽

Actual System ◽

Robust Controller ◽

Robust Control Design

Due to the sensitivity of gas turbines’ power generation in Iran, robustness is considered as a crucial matter and the controllers play an essential role in this objective. The common controllers used in gas turbines are usually based on standard performance. Whereas, robust controllers demonstrate acceptable performance in the presence of adverse factors such as uncertainties, disturbances, and input step changes. In this study, dynamic structures and various robust control design scenarios for an MGT-30 three-shaft gas turbine have proposed. Input-output matrices have been presented based on the dynamic model structures, and a standard robust controller structure has been used to design and present transfer matrices. Four scenarios have been considered in the robust control design according to the number of control variables, uncertainties, and disturbance effects, evolutionally, respectively. [Formula: see text] and [Formula: see text] methods were used in the controller design when presenting the results of using the existing PID controller. The results show that with the increase and develop in parameters influencing the production of the actual system behavior and the controller responses improve noticeably. Finally, the fourth scenario was proposed as a scenario with more desirable robustness features than other scenarios, which provide a complete array of robust controllers.

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Robust Control Design Procedure and Simulation of PRES Controller having Phase-Locked Loop(PLL) control technique in Grid-Tied Converter

2020 3rd International Seminar on Research of Information Technology and Intelligent Systems (ISRITI) ◽

10.1109/isriti51436.2020.9315358 ◽

2020 ◽

Author(s):

Uma Yadav ◽

Anju Gupta ◽

Rajesh Ahuja

Keyword(s):

Robust Control ◽

Design Procedure ◽

Control Design ◽

Phase Locked Loop ◽

Control Technique ◽

Robust Control Design

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A Step-by-Step Design Procedure of a Robust Control Design for Grid-Connected Inverter by LCL Filter in a Weak and Harmonically Distorted Grid

Iranian Journal of Science and Technology Transactions of Electrical Engineering ◽

10.1007/s40998-021-00414-z ◽

2021 ◽

Author(s):

Majid Hosseinpour ◽

Mahastan Asad ◽

Navid Rasekh

Keyword(s):

Robust Control ◽

Design Procedure ◽

Control Design ◽

Lcl Filter ◽

Distorted Grid ◽

Robust Control Design ◽

Grid Connected Inverter

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Robust Control in Bending and Torsional Coupled Vibrations of a Flexible Robot Arm

Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C ◽

10.1115/detc2003/vib-48511 ◽

2003 ◽

Author(s):

Kohei Takamura ◽

Kousuke Yamamoto ◽

Hiromiti Kawabe ◽

Shirley J. Dyke ◽

Toru Watanabe ◽

...

Keyword(s):

Robust Control ◽

Controller Design ◽

Design Procedure ◽

Robot Arm ◽

Flexible Robot ◽

Coupled Vibrations ◽

Flexible Arm ◽

H Infinity Control ◽

Robust Control Design ◽

Auxiliary Mass

This paper address that the vibration control system design for a flexible arm which possesses bending and torsional coupled vibrations. First, an experimental flexible arm is made which has a rotational shaft driven by a servomotor in one end, and an auxiliary mass connected to the other end so that the center of the stiffness of the arm may not exist on the direction of motion of the auxiliary mass which denotes payload. Three degree-of-freedom (DOF) reduced order model is identified according to Seto’s procedure. Based on the obtained model, robust control design procedure utilizing H-infinity control theory is applied. In the controller design procedure, the uncertainty associated with neglecting high frequency modes is represented by unstructured uncertainty. Computer simulations are carried out and it is clarified that the obtained controller achieved a good performance. The effectiveness of presented modeling method and controller design procedure are verified through control experiments.

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