Robust control of a laboratory pendulum with uncertain high frequency dynamics

2007 ◽  
Author(s):  
U. Mackenroth
Keyword(s):  
Robust Control ◽  
High Frequency

scholarly journals Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yan Ren ◽  
Zhenghua Liu ◽  
Le Chang ◽  
Nuan Wen
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Servo System ◽  
Adaptive Sliding Mode ◽  
Main System

A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

A variable structure model reference robust control without a prior knowledge of high frequency gain sign

Automatica ◽  
2008 ◽  
Vol 44 (4) ◽  
pp. 1036-1044 ◽  
Author(s):  
Lin Yan ◽  
Liu Hsu ◽  
Ramon R. Costa ◽  
Fernando Lizarralde
Keyword(s):  
Robust Control ◽  
Prior Knowledge ◽  
High Frequency ◽  
Variable Structure ◽  
Structure Model ◽  
Model Reference

Design of Reduced Order H∞ Controller for Smart Structures

1999 ◽  
Author(s):  
Fernando J. O. Moreira ◽  
José Roberto de França Arruda ◽  
Daniel J. Inman
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Smart Structure ◽  
Trial And Error ◽  
Structural System ◽  
Sensors And Actuators ◽  
Reduced Order ◽  
Theoretical Contribution ◽  
Robustness Condition ◽  
Robust Control Design

Abstract In this paper the design of a low order controller for a high-order, smart structural system is presented. The application considered here is a model of a solar panel dynamically similar to those used on satellites. Smart structure refers here to the use of integrated piezoceramic materials as sensors and actuators in the structural system in order to implement the control. The theoretical contribution is made be extending well known robust control theory by relating the high frequency robustness condition to the residual uncertainty, removing a trial and error step in the normal robust control design. The procedure is applied experimentally to a one-meter long frame that is coupled in bending and torsion. Both numerical and experimental results are given.

Research on Model Reference Robust Control for Multivariable Linear System

2013 ◽  
Vol 712-715 ◽  
pp. 2761-2767
Author(s):  
Xu Jiang ◽  
Jing Yu Hua ◽  
Qin Ling Zhang
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Full Rank ◽  
Design Parameters ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Model Reference ◽  
Feedback Model ◽  
Model Reference Control ◽  
Dominant Matrix

This paper studies the output-feedback model reference robust control for MIMOlinear systems with generalized relative degree one. A new robust controlscheme is proposed within the framework of model reference control. Under theassumption that the high-frequency gain matrix of the plant can be transformedto a glass of main diagonal dominant matrix via full rank transformation, it isshown that all signals of the closed-loop system are globally uniformly boundedand meanwhile, the tracking errors converge to a residual set that can be madearbitrarily small by properly choosing some design parameters. Simulationresults are presented to illustrate the effectiveness of the proposed scheme.

scholarly journals A Method of Enhancing Fast Steering Mirror’s Ability of Anti-Disturbance Based on Adaptive Robust Control

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Shitao Zhang ◽  
Bao Zhang ◽  
Xiantao Li ◽  
Zhengxi Wang ◽  
Feng Qian
Keyword(s):  
Robust Control ◽  
Pid Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Adaptive Robust Control ◽  
Line Of Sight ◽  
Frequency Noise ◽  
Robust Controller ◽  
High Frequency Noise ◽  
Control Accuracy

Fast steering mirror (FSM) plays a crucial role in stabilization of the line-of-sight (LOS) and phase shift compensation. The control accuracy of the FSM is affected by various disturbances especially the vibration in the aviation environment. Traditional anti-disturbance methods, such as disturbance observer (DOB), have a little effect of suppressing disturbance in FSM. But it also brings some problem, such as increasing mass and amplifying high frequency noise. To solve these problems, an anti-disturbance strategy based on adaptive robust control (ARC) was proposed. And it will not amplify the high-frequency noise which is inevitable in DOB. Experimental results show that, using adaptive robust controller, the steady-state error of the FSM decreased 4.8 times compared to simple PID control and 1.9 times compared to DOB+PID control in the simulated vibration environment.

scholarly journals High-frequency feedback robust control for flocking of multi-agent system with unknown parameters

Automatika ◽  
2019 ◽  
Vol 60 (1) ◽  
pp. 28-35
Author(s):  
Qing Zhang ◽  
Jie Wang ◽  
Zhengquan Yang ◽  
Zengqiang Chen
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Multi Agent System ◽  
Unknown Parameters ◽  
Agent System ◽  
Multi Agent
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