On modification of a class of Lyapunov-based robust controllers subject to bounded input

2003 ◽  
Author(s):  
Shou-Tao Peng
Keyword(s):  
Robust Controllers ◽  
Bounded Input

Application of gain scheduled H/sub ∞/ robust controllers to a magnetic bearing

1996 ◽  
Vol 4 (5) ◽  
pp. 484-493 ◽  
Author(s):  
F. Matsumura ◽  
T. Namerikawa ◽  
K. Hagiwara ◽  
M. Fujita
Keyword(s):  
Magnetic Bearing ◽  
Robust Controllers ◽  
Gain Scheduled

Monotonic Convergence Analysis for 2-D Roesser Systems via a LMI Approach

2014 ◽  
Vol 575 ◽  
pp. 594-597
Author(s):  
Zhi Fu Li ◽  
Yue Ming Hu
Keyword(s):  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Dimensional System ◽  
Matrix Inequalities ◽  
Roesser Model ◽  
Lmi Approach ◽  
One Dimensional ◽  
Bibo Stability ◽  
Monotonic Convergence ◽  
Bounded Input

The monotonic convergence (MC) property of discrete two-dimensional (2-D) systems described by the Roesser model is studied. The MC problem of the 2-D system is firstly converted to two H∞ disturbance attenuation problems of the traditional one-dimensional system. Then, the sufficient condition is derived for the MC, which is given by two linear matrix inequalities (LMIs). Furthermore, it can be shown that either of the LMIs can also guarantee the Bounded-Input Bounded-Output (BIBO) stability of the 2-D system. Finally, a simulation example is given to show the effectiveness of the LMIs condition.

Motion planning of a fish-like piezoelectric actuated robot using model-based predictive control

2021 ◽  
pp. 107754632110482
Author(s):  
Arthur S Barbosa ◽  
Lucas Z Tahara ◽  
Maíra M da Silva
Keyword(s):  
Motion Planning ◽  
Predictive Control ◽  
Fiber Composite ◽  
Beam Theory ◽  
Mode Shapes ◽  
Design Strategies ◽  
Mechanical Coupling ◽  
Model Based ◽  
Input Signals ◽  
Bounded Input

This work proposes a novel methodology for planning the motion of fish-like soft robots actuated by macro-fiber composite (MFC) pairs. These structures should mimic oscillatory and undulation movements, which can be accomplished if the amplitude of the tail motion is larger than that of the head motion. Design strategies, such as the use of concentrated and distributed masses, are addressed to mimic fish-like motion since they guarantee suitable mode shapes for the structure. The motion planning proposal explores a model-based predictive control (MPC) strategy for deriving the input signals for the MFC actuators. This model-based control strategy requires the use of reasonably small-sized models. This is accomplished by extracting modal state-space models based on the free–free Euler–Bernoulli beam theory considering the electro-mechanical coupling of the MFC actuator pairs. Numerical results demonstrate the capability of the proposal for deriving bounded input signals that generate oscillatory and undulation movements even in the presence of disturbances. This general approach can be further extended for other applications.

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