Finite dimensional approximation and robust controller design for semigroup systems

2005 ◽  
Author(s):  
F.M. Callier ◽  
S.Q. Zhu
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Finite Dimensional Approximation ◽  
Finite Dimensional ◽  
Dimensional Approximation ◽  
Robust Controller Design

An Approach to Acoustic Noise Control via Passivity Techniques

2001 ◽  
Author(s):  
A. G. Kelkar ◽  
Suresh M. Joshi
Keyword(s):  
Design Methodology ◽  
Controller Design ◽  
Acoustic Noise ◽  
Broad Band ◽  
Resonant Mode ◽  
Robust Controller ◽  
Finite Dimensional Approximation ◽  
Finite Dimensional ◽  
Guaranteed Stability ◽  
Dimensional Approximation

Abstract This paper presents a passivity-based robust controller design methodology for broad-band control of acoustic noise in ducts. A brief review of passivity-based control using passification techniques is given for non-passive dynamic systems. An application of this design technique to the acoustic duct system is presented. The acoustic duct model being inherently non-passive, passification techniques are necessary to render the system passive. The controller design is based on finite-dimensional approximation and is shown to be robust to unmodeled dynamics and parametric uncertainties. The control design methodology exploits inherent robustness of passivity-based controllers and selective mode attenuation capability of resonant mode controllers. The resulting controller is low-order, robust, broadband, and has guaranteed stability.

An Inner/Outer Loop Controller for Rigid-Flexible Manipulators

1992 ◽  
Vol 114 (4) ◽  
pp. 580-587 ◽  
Author(s):  
F. Khorrami ◽  
S. Zheng
Keyword(s):  
Controller Design ◽  
Nonlinear Partial Differential Equation ◽  
Body Motion ◽  
Flexible Manipulators ◽  
Outer Loop ◽  
Finite Dimensional Approximation ◽  
Finite Dimensional ◽  
Dimensional Approximation ◽  
Loop Dynamics ◽  
Control Methodology

In this paper, vibration control of flexible-link manipulators is considered. A nonlinear partial differential equation describing the dynamics of a two-link planar manipulator with a flexible forearm is derived. Thereafter, utilizing the eigenfunctions corresponding to the boundary value problem at hand, a finite-dimensional approximation of the model is given. The controller design strategy is based upon an inner-loop controller which corresponds to the rigid body motion of the manipulator taking into consideration the vibrations of the manipulator and an outer-loop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations in the system. The measurement used in the outer-loop controller is obtained through an accelerometer mounted on the flexible forearm which can be easily attained in an experimental setup. The control methodology advocated in this paper are applicable to the multi-link flexible manipulators.

A Modified Homotopy Method and H∞ Robust Controller Design

2014 ◽  
Vol 39 (8) ◽  
pp. 1374-1380
Author(s):  
Bin LIU ◽  
Jiu-Qiang SUN ◽  
Zhi-Qiang ZHAI ◽  
Zhuo LI ◽  
Chang-Hong WANG
Keyword(s):  
Controller Design ◽  
Homotopy Method ◽  
Robust Controller ◽  
Robust Controller Design

Trade-Offs in Robust Controller Design

1992 ◽  
Author(s):  
J. Flgueroa ◽  
A. C. Desages ◽  
A. Palazoglu ◽  
J. A. Romagnoli
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Trade Offs ◽  
Robust Controller Design
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