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State Feedback Controllers (state + feedback_controllers)

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Engineering	100%

Selected Abstracts

Gain Scheduled LPV H, Control Based on LMI Approach for a Robotic Manipulator

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 12 2002
Zhongwei Yu
A new approach to the design of a gain scheduled linear parameter-varying (LPV) H, controller, which places the closed-loop poles in the region that satisfies the specified dynamic response, for an n -joint rigid robotic manipulator, is presented. The nonlinear time-varying robotic manipulator is modeled to be a LPV system with a convex polytopic structure with the use of the LPV convex decomposition technique in a filter introduced. State feedback controllers, which satisfy the H, performance and the closed-loop pole-placement requirements, for each vertex of the convex polyhedron parameter space, are designed with the use of the linear matrix inequality (LMI) approach. Based on these designed feedback controllers for each vertex, a LPV controller with a smaller on-line computation load and a convex polytopic structure is synthesized. Simulation and experiment results verify that the robotic manipulator with the LPV controller always has a good dynamic performance along with the variations of the joint positions. © 2002 Wiley Periodicals, Inc. [source]

A feedforward,feedback controller for infinite-dimensional systems and regulation of bounded uniformly continuous signals

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 5 2006
Eero Immonen
Abstract We design a controller for infinite-dimensional linear systems (with bounded control, observation and feedthrough operators) which, under certain assumptions, achieves asymptotic tracking of arbitrary bounded uniformly continuous reference signals in the presence of disturbances. The proposed controller is of feedforward,feedback type: The dynamic feedback part is used to stabilize the closed-loop system consisting of the plant and the controller, whereas the feedforward part is tuned using the regulator equations to achieve the regulation of desired signals. We also completely solve the regulator equations for SISO systems, and we discuss robustness properties of the proposed controller. A useful feature in our design is that the feedforward part of the controller can be designed independently of the feedback part. This automatically leads to a degree of robustness in the stabilizing part of the controller, which is not present in the existing state feedback controllers solving the same output regulation problem. Copyright © 2006 John Wiley & Sons, Ltd. [source]

Design of full state feedback finite-precision controllers

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 6 2002
Raffaello D'Andrea
Abstract In this paper, the Generalized L2 Synthesis framework is brought to bear on the problem of control design of full state feedback finite-precision controllers. In particular, we investigate the problem of designing full state feedback controllers that achieve guaranteed H-infinity performance objectives, subject to finite precision constraints on the controller. It is shown that by adopting the Generalized L2 Synthesis framework, the errors in the controller implementation can be captured as full structured uncertainty, and computationally tractable linear matrix inequality techniques used for analysis and synthesis. Copyright © 2002 John Wiley & Sons, Ltd. [source]

Adaptive tracking control of flexible-joint manipulators without overparametrization

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 7 2004
Min S. Kim
In this paper, an adaptive controller is designed for rigid-link flexible-joint robot manipulators based on link and actuator position measurements only. It is based on the adaptive integrator backstepping method and the link and actuator velocity filters are used to estimate the unknown velocity terms. Moreover, the proposed controller exploits the estimate of the joint stiffness matrix inverse to overcome the overparametrization problem, which has been a significant drawback in adaptive partial state feedback controllers. It achieves asymptotic tracking of link positions while keeping all states and signals bounded. The tracking capability of the presented method is shown through simulation results of one- and two-link flexible joint manipulators. © 2004 Wiley Periodicals, Inc. [source]

Optimal stabilizing controllers for linear discrete-time stochastic systems

OPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 3 2008
Jun-E Feng
Abstract The relationship between the spectral radius and the decay rate for discrete stochastic systems is investigated. Several equivalent conditions are obtained, which guarantee a specified decay rate of the closed-loop systems. Based on the relationship, this paper provides a design method for state feedback controllers, which ensure that the closed-loop systems converge as fast as possible. Finally, a numerical example is used to illustrate the developed method. Copyright © 2007 John Wiley & Sons, Ltd. [source]

A note on the robust control of Markov jump linear uncertain systems

OPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 2 2002
D. P. de Farias
Abstract This note addresses a robust control problem of continuous-time jump linear Markovian systems subject to norm-bounded parametric uncertainties. The problem is expressed in terms of a H, control problem as in the purely deterministic case. The present formulation is simpler and it contains previous results in the literature as particular cases. Robust state feedback controllers are parameterized by means of a set of linear matrix inequalities. The result is illustrated by solving some examples numerically. Copyright © 2002 John Wiley & Sons, Ltd. [source]

GENERALIZED QUADRATIC STABILIZATION FOR DISCRETE-TIME SINGULAR SYSTEMS WITH TIME-DELAY AND NONLINEAR PERTURBATION

ASIAN JOURNAL OF CONTROL, Issue 3 2005
Guoping Lu
ABSTRACT This paper discusses a generalized quadratic stabilization problem for a class of discrete-time singular systems with time-delay and nonlinear perturbation (DSSDP), which the satisfies Lipschitz condition. By means of the S-procedure approach, necessary and sufficient conditions are presented via a matrix inequality such that the control system is generalized quadratically stabilizable. An explicit expression of the static state feedback controllers is obtained via some free choices of parameters. It is shown in this paper that generalized quadratic stability also implies exponential stability for linear discrete-time singular systems or more generally, DSSDP. In addition, this new approach for discrete singular systems (DSS) is developed in order to cast the problem as a convex optimization involving linear matrix inequalities (LMIs), such that the controller can stabilize the overall system. This approach provides generalized quadratic stabilization for uncertain DSS and also extends the existing robust stabilization results for non-singular discrete systems with perturbation. The approach is illustrated here by means of numerical examples. [source]