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Tethered Segway is a robotic platform inspired by human climbers. It is a two-wheeled mobile platform tethered to the top of a structure in order to climb steep surfaces with varying slopes, such as domes. The unstructured environment may cause uncertainties in the dynamic behavior of the robot while operating on different parts of the dome. In this paper analysis and synthesis of a robust controller...
This paper presents a design of multi-objective controller for a two input two output interacting Coupled Tank System (CTS) and its real time implementation. The multi-objective control has been achieved by satisfying time domain objective like pole placement and frequency domain objective like H-infinity condition. This multi-objective control has been formulated using Linear Matrix Inequality (LMI)...
A robust Fractional Order PDD (FOPDD) controller is designed for a nonlinear spacecraft rendezvous subject to uncertain conditions considering actuator saturation. The controller is designed for the linear and decouples system. It is applied on nonlinear uncertain system in large maneuverings. In order to design the FOPDD controller, the specifications are calculated through the phase margins, sensibility...
Hydraulic systems are widely used in different industries; especially where high-magnitude forces are exerted. Traditional elector-hydraulic systems use a proportional or servo valve to control the position of hydraulic actuators. Low energy efficiency and high cost of these control valves are two important problems in these systems. Digital Hydraulics is one of the most novel methods, proposed to...
This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proportional-Integral-Derivative (PID) control with time-varying gains, UDE based control gives an additional compensation for canceling system nonlinearities...
The robust H-infinity controller design is investigated in this paper for a class of nonlinear singular systems with state and transmission delays. The proposed controller is configured in multiple feedback loops. Based on the interval type-2 T-S fuzzy modelling and parallel distributed compensation techniques, a fuzzy multiple feedback-loop controller with memoryless state and delayed states is proposed...
This paper proposes the combining of μ-synthesis robust repetitive control and feedforward control scheme to the design of constant sinusoidal voltage tracking for a stand-alone three-phase constant voltage inverter. The controller designed problem is defined in the form of two-degree-of-freedom feedback-feedforward controller. The D-K iterative algorithm is used to solve for both parts of the controller...
This paper presents a robust controller for robot manipulators. The controller is based on the disturbance observer which can efficiently compensate the external disturbances and plant uncertainties, and recover the nominal system performance. Under the assumption that angular displacements as well as angular velocities are available for feedback, we propose a disturbance observer-based robust controller...
This study presents a single parameter self-tuning fuzzy fractional order PIλ (STFFOPIλ) controller for second order uncertain dynamical system. A method for the self-tuning of fractional order controller (FOC) using fuzzy logic is introduced. Fuzzy auto-tune technique adjusts on-line integral order (λ) of STFFOPIλ controller to meet that system have different control parameters under different error...
In this paper, design of a robust cascade controller for a Cuk converter is investigated. The controller contains two loop cascaded structure. The external voltage loop, which is the slow loop, contains the continuous proportional-integral(PI) voltage controller whereas the internal current loop, which is the fast loop, contains the continuous sliding mode controller(CSMC). The controller effectiveness...
In this paper a practical approach to design an optimal robust Power System Stabilizer (PSS) is presented which improves the PSS dynamic performance facing uncertainty in its model parameters. Generally, the PSS system is a critical element in increasing the damping of the system in an emergency condition and it is necessary to strengthen its dynamic characteristics against any uncertainty in its...
This paper presents a novel robust control design approach for grid-connected voltage-source-inverter with uncertain grid-impedance. The proposed method is based on the fusion of intelligent and robust control theories. The controller is designed to achieve the highest convergence rate of the system for a certain uncertainty range. The control objective is to regulate the real and reactive power injected...
This work deals with the issue of control of a mismatched uncertain system by using generalized extended state observer (GESO). A typical third order system is considered for illustration. GESO is used to estimate the plant states as well as uncertainty and the control law ensures robust performance. This method is applied to non-integral chain system with mismatched uncertainty. The proposed technique...
This paper introduces a robust controller design method for maintaining microgrid operation under grid islanded mode by solid state transformers (SST) using master-slave control strategy. In the grid islanded mode, the grid voltage controller of the master SST, designed using μ synthesis, ensures stable control of the microgrid voltage. This paper extends the uncertainty modeling to general grid impedance...
This paper proposes the theoretical framework and the experimental application of the active disturbance rejection control to linear induction motors. Such a non-linear control technique can be viewed as a particular kind of input-output linearization control technique, where the non-linear transformation of the state is not a priori given by a model, while it is estimated on-line. Such an approach...
The main factor affecting the fight ability of aircraft carrier is weapons dispatching. This paper studies the fuzzy robust control strategy of uncertain and nonlinear dynamic weapons dispatching system. Firstly, a T-S fuzzy model with uncertainties of internal and external parameters is set up. Secondly, a fuzzy robust control strategy under storage amount of weapons is proposed. The control strategy...
This paper extends efficient, robust model predictive control (MPC) approaches for linear parameter varying (LPV) systems to tracking scenarios. A dual mode approach is used and future information about target changes is included in the optimisation tracking problem. The controller guarantees recursive feasibility by adding an artificial target as an extra degree of freedom. Convergence to admissible...
To meet the challenge of excellent tracking performance even under complicated nonlinear disturbance, a desired compensation neural network adaptive robust control (DCN-NARC) strategy is proposed for an industrial linear motor motion system. The proposed control scheme seriously concentrates on attenuating the effects of various model uncertainties and unknown nonlinearities, such as inertia load...
This paper presents a yaw control problem for ship steering using a complex fourth order Nomoto model. A linear matrix iinequality (LMI) based H robust control to deal with poles on imaginary axis is applied to solve the yaw control problem for ship steering. The model uncertainty of ship steering problem is tackled using μ-synthesis control approach. The tracking ability and robust stability of H...
Robust control of non-linear systems with coupled dynamics subject to different types of disturbance is addressed in this paper. The method is applied for control and trajectory tracking of robotic manipulators. Robust trajectory tracking of the robot in the presence of payload force, friction force, and parameters uncertainty is achieved using integral sliding mode controller technique. To evaluate...
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