Finite dimensional approximation and robust controller design for semigroup systems

Author(s):  
F.M. Callier ◽  
S.Q. Zhu
2001 ◽  
Author(s):  
A. G. Kelkar ◽  
Suresh M. Joshi

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.


1992 ◽  
Vol 114 (4) ◽  
pp. 580-587 ◽  
Author(s):  
F. Khorrami ◽  
S. Zheng

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.


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

Author(s):  
J. Flgueroa ◽  
A. C. Desages ◽  
A. Palazoglu ◽  
J. A. Romagnoli

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