Robust Control Method

2017 ◽  
pp. 45-68
Author(s):  
Qing Guo ◽  
Dan Jiang
Keyword(s):  
Robust Control ◽  
Control Method

Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

2009 ◽  
Vol 223 (6) ◽  
pp. 785-795 ◽  
Author(s):  
D W Qian ◽  
X J Liu ◽  
J Q Yi
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Sliding Surface ◽  
Nominal System ◽  
Sliding Surfaces ◽  
Mode Control ◽  
Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

Robust Control Method Based on Machine Learning for Boiler Combustion System

2014 ◽  
Vol 685 ◽  
pp. 368-372 ◽  
Author(s):  
Hao Zhang ◽  
Ya Jie Zhang ◽  
Yan Gu Zhang
Keyword(s):  
Robust Control ◽  
Intelligent Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Method ◽  
Support Vector ◽  
Control Performance ◽  
Fuzzy Pid Control ◽  
On Line ◽  
Control Output

In this study, we presented a boiler combustion robust control method under load changes based on the least squares support vector machine, PID parameters are on-line adjusted and identified by LSSVM, optimum control output is obtained. The simulation result shows control performance of the intelligent control algorithm is superior to traditional control algorithm and fuzzy PID control algorithm, the study provides a new control method for strong non-linear boiler combustion control system.

Robust Control for Urban Living Water System with Seasonal Volatility

2013 ◽  
Vol 295-298 ◽  
pp. 1927-1930
Author(s):  
Ke Bai Li
Keyword(s):  
Water Management ◽  
Robust Control ◽  
Control Method ◽  
Supply And Demand ◽  
Water System ◽  
Management Model ◽  
State Variables ◽  
Urban Living ◽  
Target Value ◽  
Seasonal Volatility

Established urban living water management model. With capital and labor as state variables, using the pole assignment robust control method, realize the urban living water system supply and demand balance tending to target value.

scholarly journals Robust control method for bionic gait of machine legs based on time delay feedback

2018 ◽  
Vol 173 ◽  
pp. 02009
Author(s):  
Lu Xing-Hua ◽  
Huang Peng-Fen ◽  
Huang Wei-Peng
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Delayed Feedback Control ◽  
Accurate Estimation ◽  
Gait Control ◽  
Robot Leg ◽  
Correlation Parameters ◽  
Robotic Leg

The bionic machine leg is disturbed by the joint during the walking process, which is easy to produce time delay, which causes the robustness of the control of the machine leg is not good. In order to improve the robustness of the bionic gait control of the machine leg, a robust control method for the bionic gait of the machine leg based on time - delay feedback is proposed. The gait correlation parameters of robot leg are collected by sensor array, and the dynamic model of bionic gait is constructed. The fuzzy controller of bionic gait of robot leg is constructed by using time-delay coupling control method. The delayed feedback control error compensation method of machine leg correction is taken to improve the steady control performance of the robotic leg, reduce the steady-state error, improve the robustness of the control machine leg. The simulation results show that this method is robust to the bionic gait control of the machine leg. The output error of the gait parameter can quickly converge to zero, and the accurate estimation of the attitude parameter is stronger.

Robust Control Method

2017 ◽  
pp. 45-68
Author(s):  
John C. Doyle ◽  
Cheng Guan ◽  
Vladimir Milić ◽  
Kemin Zhou
Keyword(s):  
Robust Control ◽  
Control Method

Observer-based robust control for flexible-joint robot manipulators: A state-dependent Riccati equation-based approach

2020 ◽  
Vol 42 (16) ◽  
pp. 3135-3155
Author(s):  
Neda Nasiri ◽  
Ahmad Fakharian ◽  
Mohammad Bagher Menhaj
Keyword(s):  
Robust Control ◽  
Control Problem ◽  
Riccati Equation ◽  
Power Transmission ◽  
Control Method ◽  
Main Idea ◽  
Robotic Systems ◽  
Flexible Joint ◽  
State Dependent ◽  
Highly Nonlinear

In this paper, the robust control problem is tackled by employing the state-dependent Riccati equation (SDRE) for uncertain systems with unmeasurable states subject to mismatched time-varying disturbances. The proposed observer-based robust (OBR) controller is applied to two highly nonlinear, coupled and large robotic systems: namely a manipulator presenting joint flexibility due to deformation of the power transmission elements between the actuator and the robot known as flexible-joint robot (FJR) and also an FJR incorporating geared permanent magnet DC motor dynamics in its dynamic model called electrical flexible-joint robot (EFJR). A novel state-dependent coefficient (SDC) form is introduced for uncertain EFJRs. Rather than coping with the OBR control problem for such complex uncertain robotic systems, the main idea is to solve an equivalent nonlinear optimal control problem where the uncertainty and disturbance bounds are incorporated in the performance index. The stability proof is presented. Solving the complicated robust control problem for FJRs and EFJRs subject to uncertainty and disturbances via a simple and flexible nonlinear optimal approach and no need of state measurement are the main advantages of the proposed control method. Finally, simulation results are included to verify the efficiency and superiority of the control scheme.

Proton Exchange Membrane Fuel Cell System Identification and Control: Part II — H-Infinity Based Robust Control

2006 ◽  
Author(s):  
F. C. Wang ◽  
Y. P. Yang ◽  
H. P. Chang ◽  
Y. W. Ma ◽  
C. W. Huang ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Robust Control ◽  
System Identification ◽  
Control Method ◽  
Cell Voltage ◽  
Pem Fuel Cell ◽  
Cell System ◽  
Proton Exchange ◽  
Fuel Cell System ◽  
Highly Nonlinear

This paper applies robust control strategies to a PEM fuel-cell system. In Part I of this work [17], a PEM fuel cell was described as a two-input-two-output system with the inputs of hydrogen and air flow rates, and the outputs of cell voltage and current. From the responses, system identification techniques were adopted to model the system transfer function matrix. Then adaptive control methods were applied to control the system with encouraging results. In this paper, the H∞ robust control strategy is proposed due to the highly nonlinear and time-varying characteristics of the system. From the results, it is illustrated to be an efficient control method for the fuel cell systems.

In-space structural assembly using predefined performance based method

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xianliang Zhang ◽  
Weibing Zhu ◽  
Xiande Wu ◽  
Ting Song ◽  
Yaen Xie ◽  
...  
Keyword(s):  
Robust Control ◽  
Collision Avoidance ◽  
Dynamic Models ◽  
Control Method ◽  
Transient State ◽  
Transportation Systems ◽  
Performance Bounds ◽  
Tracking Errors ◽  
Performance Control ◽  
Content Type

Purpose The purpose of this paper is to propose a pre-defined performance robust control method for pre-assembly configuration establishment of in-space assembly missions, and collision avoidance is considered during the configuration establishment process. Design/methodology/approach First, six-degrees-of-freedom error kinematic and dynamic models of relative translational and rotational motion between transportation systems are developed. Second, the prescribed transient-state performance bounds of tracking errors are designed. In addition, based on the backstepping, combining the pre-defined performance control method with a robust control method, a pre-defined performance robust controller is designed. Findings By designing prescribed transient-state performance bounds of tracking errors to guarantee that there is no overshoot, collision-avoidance can be achieved. Combining the pre-defined performance control method with a robust control method, robustness to disturbance is guaranteed. Originality/value This paper proposed a pre-defined performance robust control method. Simulation results demonstrate that the proposed controller can achieve a pre-assembly configuration establishment with collision avoidance in the existence of external disturbances.

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