A Hybrid Adaptive and Robust Control Strategy for a Class of Linear Systems

2003 ◽  
Author(s):  
Yisheng Zhang ◽  
Andrew G. Alleyne
Keyword(s):  
Robust Control ◽  
Linear Systems ◽  
Control Strategy ◽  
High Performance ◽  
Dwell Time ◽  
Hybrid Control ◽  
Adaptive Controller ◽  
Robust Controller ◽  
Plant Model ◽  
System Information

This paper presents a hybrid control strategy to avoid the basic trade-off between performance and robustness for individual controllers. The hybrid control strategy utilizes a robust controller for guaranteed robustness and adequate performance when the plant model is not well known and/or in the presence of significant disturbances, and employs an adaptive controller for high performance after sufficient system information has been collected. Based on traditional dwell-time approaches, a coordinated dwell-time approach is developed and incorporated into the hybrid control strategy, which guarantees the global stability of the hybrid system for a class of linear systems, as well as combine the benefits of robust control and adaptive control.

Design and Implementation of a Hybrid Control Strategy for an Active Vibration Isolation System

2002 ◽  
Author(s):  
Yisheng Zhang ◽  
Andrew G. Alleyne ◽  
Danian Zheng
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
Vibration Isolation ◽  
Hybrid Control ◽  
Transfer Scheme ◽  
Isolation System ◽  
Plant Variation ◽  
Bumpless Transfer ◽  
Active Vibration ◽  
Active Vibration Isolation

Controller design methodologies based on a single controller are often unable to provide both high performance (i.e., tracking bandwidth) and desired robustness (i.e. retaining stability) in the presence of uncertainty or plant variation. This paper presents a hybrid control strategy to circumvent the basic trade-off between performance and robustness from an individual controller. This hybrid control strategy utilizes a robust controller for guaranteed robustness when the plant model is not well known, and makes an adaptive controller active for high performance after sufficient plant information has been collected on-line. To avoid a degraded transient after controller switching, a bumpless transfer scheme is designed and incorporated into this hybrid control strategy. This bumpless transfer design is a novel extension from a conventional latent tracking bumpless transfer design for a SISO plant with 1 DOF controllers to either a SISO plant with multiple DOF controllers or a MIMO plant. Experimental results implemented on an active vibration isolation testbed demonstrate the effectiveness of the hybrid control strategy including the bumpless transfer design.

scholarly journals A Robust Control Strategy for Linear Systems Having Uncertainties

1992 ◽  
Vol 28 (3) ◽  
pp. 351-357 ◽  
Author(s):  
Noriaki SAKAMOTO ◽  
Masami MASUBUCHI ◽  
Seiichi KAWATA
Keyword(s):  
Robust Control ◽  
Linear Systems ◽  
Control Strategy

Adaptive Robust Control for Hydraulic Actuators With Disturbance Estimation

2015 ◽  
Author(s):  
Z. B. Xu ◽  
J. Y. Yao ◽  
Z. L. Dong ◽  
Y. Zheng
Keyword(s):  
Robust Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
High Performance ◽  
Adaptive Robust Control ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Robust Controller ◽  
Hydraulic Actuators ◽  
Disturbance Estimation

In this paper, an adaptive robust control for hydraulic actuators with disturbance estimation is proposed for a hydraulic system with mismatched generalized uncertainties (e.g., parameter derivations, external disturbances, and/or unmodeled dynamics), in which a finite time disturbance observer and an adaptive robust controller are synthesized via backstepping method. The finite time disturbance observer is designed to estimate the mismatched generalized uncertainties. The adaptive robust controller is designed to handle parametric uncertainties and stabilize the closed loop system. The proposed controller accounts for not only the parametric uncertainties, but also the mismatched generalized uncertainties. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance after a finite time T0, which is very important for high accuracy tracking control of hydraulic servo systems. Simulation results are obtained to verify the high performance nature of the proposed control strategy.

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