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Prescribed Disturbance Attenuation Level (prescribed + disturbance_attenuation_level)
Selected AbstractsA further result of the nonlinear mixed H2/H, tracking control problem for robotic systemsJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 1 2002C. Q. Huang The design objective of a mixed H2/H, control is to find the H2 optimal tracking control law under a prescribed disturbance attenuation level. With the help of the technique of completing the squares, a further result of the mixed H2/H, optimal tracking control problem is presented, by combining it with standard LQ optimal control technique. In this paper, only a nonlinear time-varying Riccati equation is required to solve the problem in the design procedure,instead of two coupled nonlinear time-varying Riccati equations, or two coupled linear algebraic Riccati-Iike equations,with some assumptions made regarding the weighting matrices in the existing results. A closed-form controller for the mixed H2/H, robotic tracking problem is simply constructed with a matrix inequality check. Moreover, it shows that the existing results are the special cases of these results. Finally, detailed comparison is performed by numerical simulation of a two-link robotic manipulator. © 2002 John Wiley & Sons, Inc. [source] Robust sliding mode design for uncertain stochastic systems based on H, control methodOPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 2 2010Yugang Niu Abstract In this paper, the design problem of sliding mode control (SMC) is addressed for uncertain stochastic systems modeled by Itô differential equations. There exist the parameter uncertainties in both the state and input matrices, as well as the unmatched external disturbance. The key feature of this work is the integration of SMC method with H, technique such that the robust stochastic stability with a prescribed disturbance attenuation level , can be achieved. A sufficient condition for the existence of the desired sliding mode controller is obtained via linear matrix inequalities. The reachability of the specified sliding surface is proven. Finally, a numerical simulation example is presented to illustrate the proposed method. Copyright © 2009 John Wiley & Sons, Ltd. [source] Delay distribution based robust H, control of networked control systems with uncertainties,ASIAN JOURNAL OF CONTROL, Issue 1 2010Chen Peng Abstract Network induced delay in networked control systems (NCS) is inherently non-uniformly distributed and behaves with multifractal nature. However, such network characteristics have not been well considered in NCS analysis and synthesis. Making use of the information of the statistical distribution of NCS network induced delay, a delay distribution based stochastic model is adopted to link Quality-of-Control and network Quality-of-Service for NCS with uncertainties. From this model together with a tighter bounding technology for cross terms, H, NCS analysis is carried out with significantly improved stability results. Furthermore, a memoryless H, controller is designed to stabilize the NCS and to achieve the prescribed disturbance attenuation level. Numerical examples are given to demonstrate the effectiveness of the proposed method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] Robust tracking control design for uncertain robotic systems with persistent bounded disturbancesASIAN JOURNAL OF CONTROL, Issue 4 2008Chung-Shi Tseng Abstract In this study, a robust nonlinear L, - gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L, - gain optimal tracking control cannot be solved directly, the nonlinear L, - gain optimal tracking problem is transformed into a nonlinear L, - gain tracking problem by given a prescribed disturbance attenuation level for the L, - gain tracking performance. To guarantee that the L, - gain tracking performance can be achieved for the uncertain robotic systems, a sliding-mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew-symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L, - gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L, - gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] State estimation for time-delay systems with probabilistic sensor gain reductionsASIA-PACIFIC JOURNAL OF CHEMICAL ENGINEERING, Issue 6 2008Xiao He Abstract This paper presents a new state estimation problem for a class of time-delay systems with probabilistic sensor gain faults. The sensor gain reductions are described by a stochastic variable that obeys the uniform distribution in a known interval [,, ,], which is a natural reflection of the probabilistic performance deterioration of sensors when gain reduction faults occur. Attention is focused on the design of a state estimator such that for all possible sensor faults and all external disturbances, the filtering error dynamic is asymptotically mean-square stable as well as fulfils a prescribed disturbance attenuation level. The existence of desired filters is proved to depend on the feasibility of a certain linear matrix inequality (LMI), and a numerical example is given to illustrate the effectiveness of the proposed design approach. Copyright © 2008 Curtin University of Technology and John Wiley & Sons, Ltd. [source] | ||||||||||