Stability and performance robustness of manipulators

1985 ◽  
Author(s):  
S. Desa ◽  
A. Emami-Naeini
Keyword(s):  
And Performance ◽  
Performance Robustness

Robustness of Adaptive Rotor Vibration Control to Structured Uncertainty

1997 ◽  
Vol 119 (2) ◽  
pp. 243-250 ◽  
Author(s):  
C. R. Knospe ◽  
S. M. Tamer ◽  
S. J. Fedigan
Keyword(s):  
Robustness Analysis ◽  
Stability Margin ◽  
Singular Values ◽  
Open Loop ◽  
Worst Case ◽  
Loop Control ◽  
Structured Uncertainty ◽  
Analysis Of Stability ◽  
And Performance ◽  
Performance Robustness

Recent experimental results have demonstrated the effectiveness of adaptive open-loop control algorithms for the suppression of unbalance response on rotors supported in active magnetic hearings. Herein, tools for the analysis of stability and performance robustness of this algorithm with respect to structured uncertainty are derived. The stability and performance robustness analysis problems are shown to be readily solved using a novel application of structured singular values. An example problem is presented which demonstrate the efficacy of this approach in obtaining tight bounds on stability margin and worst case performance.

Robustness of adaptive discrete-time LQG control for first-order systems

2010 ◽  
Vol 58 (1) ◽  
pp. 89-97
Author(s):  
A. Królikowski ◽  
D. Horla
Keyword(s):  
Control System ◽  
Discrete Time ◽  
Point Of View ◽  
Constrained Control ◽  
Certainty Equivalence ◽  
First Order ◽  
Lqg Control ◽  
Self Tuning ◽  
And Performance ◽  
Performance Robustness

Robustness of adaptive discrete-time LQG control for first-order systemsThe discrete-time adaptive LQG control of first-order systems is considered from robustness point of view. Both stability and performance robustness are analyzed for different control system structures. A case of amplitude-constrained control is presented, and application of certainty equivalence for self-tuning implementation is also discussed.

ACTIVE VIBRATION CONTROL OF SEISMICALLY EXCITED STRUCTURES BY ATMDS: STABILITY AND PERFORMANCE ROBUSTNESS PERSPECTIVE

2010 ◽  
Vol 10 (03) ◽  
pp. 501-527 ◽  
Author(s):  
ARASH MOHTAT ◽  
AGHIL YOUSEFI-KOMA ◽  
EHSAN DEHGHAN-NIRI
Keyword(s):  
Vibration Control ◽  
Structural Damage ◽  
Fuzzy Logic Controller ◽  
Control Strategies ◽  
Linear Quadratic Regulator ◽  
Pole Placement ◽  
Structural Vibration ◽  
Linear Quadratic ◽  
And Performance ◽  
Performance Robustness

This paper demonstrates the trade-off between nominal performance and robustness in intelligent and conventional structural vibration control schemes; and, proposes a systematic treatment of stability robustness and performance robustness against uncertainty due to structural damage. The adopted control strategies include an intelligent genetic fuzzy logic controller (GFLC) and reduced-order observer-based (ROOB) controllers based on pole-placement and linear quadratic regulator (LQR) conventional schemes. These control strategies are applied to a seismically excited truss bridge structure through an active tuned mass damper (ATMD). Response of the bridge-ATMD control system to earthquake excitation records under nominal and uncertain conditions is analyzed via simulation tests. Based on these results, advantages of exploiting heuristic intelligence in seismic vibration control, as well as some complexities arising in realistic conventional control are highlighted. It has been shown that the coupled effect of spill-over (due to reduction and observation) and mismatch between the mathematical model and the actual plant (due to uncertainty and modeling errors) can destabilize the conventional closed-loop system even if each is alone tolerated. Accordingly, the GFLC proves itself to be the dominant design in terms of the compromise between performance and robustness.

Stability and Performance Robustness Analysis of Repetitive Control Systems Using Structured Singular Values

1996 ◽  
Vol 118 (3) ◽  
pp. 593-597 ◽  
Author(s):  
Levent Gu¨venc¸
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Repetitive Control ◽  
Singular Values ◽  
Parametric Modeling ◽  
Singular Value ◽  
Plant Performance ◽  
Structured Singular Value ◽  
And Performance ◽  
Performance Robustness

The structured singular value method is applied to continuous-time SISO repetitive control systems in order to determine their stability and performance robustness in the presence of structured parametric modeling error in the plant. Performance measures for repetitive control systems are introduced and the robust performance analysis using structured singular values is modified, taking the alternating magnitude behaviour of the sensitivity function of a repetitive control system into account. The analysis procedure is simplified considerably in the case of large time delay by noting that the upper and lower envelopes of the structured singular value plots are obtained from corresponding finite dimensional systems without any time delay. The analysis procedures developed are applied to an example on repetitive control of an electrohydraulic material testing machine, available in the literature, to demonstrate their usefulness.

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