LMI based stability analysis and robust controller design for discrete linear repetitive processes
نویسندگان
چکیده
1 Institute of Control and Computation Engineering, University of Zielona Gora, Poland Dept. of Mechanical Engineering, University of Hong Kong Department of Electronics and Computer Science, University of Southampton, Southampton SO 17 1BK, U.K. Department of Automation, Nanjing University of Science and Technology, Nanjing 210094, P.R. China Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, U.K.
منابع مشابه
Optimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
متن کاملDelay-dependent stability for transparent bilateral teleoperation system: an LMI approach
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...
متن کاملSolving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
متن کاملLPV Control for speed of permanent magnet synchronous motor (PMSM) with PWM Inverter
This paper deals with the modeling, analysis, design and simulation of a robust control method for a permanent magnet synchronous machine (PMSM) supplied with a PWM inverter based on a LPV (Linear Parameter Variation) standard controller. Under the influence of uncertainties and external disturbances, by a variation of ±150% of motor parameters from the nominal values, the robust performance c...
متن کاملRobust Attitude Control of Spacecraft Simulator with External Disturbances
The spacecraft simulator robust control through H∞-based linear matrix inequality (LMI) and robust adaptive method is implemented. The spacecraft attitude control subsystem simulator consists of a platform, an air-bearing and a set of four reaction wheels. This set up provides a free real-time three degree of freedom rotation. Spacecraft simulators are applied in upgrading and checking the c...
متن کامل