• Title/Summary/Keyword: Robust control

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Robust Decentralized Adaptive Controller for Trajectory Tracking Control of Uncertain Robotic Manipulators (비중앙 집중식 강성 적응 제어법을 통한 산업용 로봇 궤도추적제어)

  • 유삼상
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.30 no.4
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    • pp.329-340
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    • 1994
  • This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

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Robust Control of Robot Manipulator with Actuators

  • Jongguk Yim;Park, Jong-Hyeon
    • Journal of Mechanical Science and Technology
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    • v.15 no.3
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    • pp.320-326
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    • 2001
  • A Robust controller is designed for cascaded nonlinear uncertain systems that can be decomposed into two subsystems; that is, a series connection of two nonlinear subsystems, such as a robot manipulator with actuators. For such systems, a recursive design is used to include the second subsystem in the robust control. The recursive design procedure contains two steps. First, a fictitious robust controller for the first subsystem is designed as if the subsystem had an independent control. As the fictitious control, a nonlinear H(sub)$\infty$ control using energy dissipation is designed in the sense of L$_2$-gain attenuation from the disturbance caused by system uncertainties to performance vector. Second, the actual robust control is designed recursively by Lyapunovs second method. The designed robust control is applied to a robotic system with actuators, is which the physical control inputs are not the joint torques, but electrical signals to the actuators.

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Robust PID Controller Design for Speed Control of BLDC Motors (BLDC 모터 속도제어를 위한 견실 PID 제어기 설계)

  • 양승윤;김인수;전완수
    • Journal of the Korea Institute of Military Science and Technology
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    • v.5 no.1
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    • pp.75-82
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    • 2002
  • In this paper, the robust PID(Proportional-Integral-Derivative) controller was designed for speed control of BLDC motors using the frequency region model matching method. It was designed the robust PID controller satisfying disturbance attenuation and robust tracking performance using an H$\infty$ control method. The robust PID controller gains with the performances of the designed H$\infty$ controller are determined using the model matching method at frequency domain. Consequently, simulation results show that the proposed PID speed controller satisfies load torque disturbance attenuation and robust tracking performance, and this study has usefulness and applicability for the speed control system design of BLDC motors.

Robust Hybrid Control System (강인 복합제어 시스템)

  • 박규식;정형조;오주원;이인원
    • Proceedings of the Earthquake Engineering Society of Korea Conference
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    • 2003.09a
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    • pp.442-449
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    • 2003
  • This paper presents a robust hybrid control system for seismic response control of a cable-stayed bridge. Because multiple control devices are operating, a hybrid control system could alleviate some of restirctions and limitations that exist when each system is acting alone. A LQG algorithm with on-off control scheme, H$_2$ and H$_{\infty}$ control algorithms with various frequency weighting filters are used to improve the controller robustness of the active control part in the hybrid control system. The numerital simulation results show that control performances of robust hybrid control systems are similar to those of the hybrid control system with LQG algorithm. Furthermore, it is verified that robust hybrid control systems are more robust than the hybrid control system with LQG algorithm and there are no signs of instabilities in the $\pm$5% stiffness matrix perturbed system. Therefore, the proposed hybrid control system have a good robustness for stiffness matrix perturbation without loss of control effectiveness.

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A Robust Adaptive Control for Permanent Magnet Synchronous Motor Subject to Parameter Uncertainties and Input Saturations

  • Wu, Shaofang;Zhang, Jianwu
    • Journal of Electrical Engineering and Technology
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    • v.13 no.5
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    • pp.2125-2133
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    • 2018
  • To achieve high performance speed regulation, a robust adaptive speed controller is proposed for the permanent magnet synchronous motor (PMSM) subject to parameter uncertainties and input saturations in this paper. A nonlinear adaptive control is introduced to compensate the PMSM speed tracking errors due to uncertainties, disturbances and control input saturation constraints. By combining the adaptive control and the nonlinear robust control based on the interconnection and damping assignment (IDA) strategy, a new robust adaptive control is designed for speed regulation of PMSM. Stability and robustness of the closed-loop control system involved with the constrained control inputs rather than unconstrained control inputs are validated. Simulations for PMSM control in the presence of uncertainties and saturations nonlinearities show that the proposed approach is effective to regulate speed, and the average tracking error using the proposed approach is at least 32% smaller than the compared methods.

An Optimal Control Approach to Robust Control of Robot Manipulators (로봇 매니퓰레이터의 강인제어를 위한 최적제어로의 접근)

  • 김미경;강희준
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.455-458
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    • 2003
  • An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations arc made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.

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An Optimal Control Approach to Robust Control of Robot Manipulators (로봇 매니퓰레이터의 강인제어를 위한 최적제어로의 접근)

  • 김미경;강희준
    • Journal of the Korean Society for Precision Engineering
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    • v.20 no.12
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    • pp.176-182
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    • 2003
  • An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations are made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.

New Robust Control Fesigns of Robot Manipulators (로봇 매니퓰레이터의 새로운 견실제어기 설계)

  • ;Ye-Hwa, Chen
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.666-671
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    • 1993
  • A new robust control law is proposed for uncertain rigid robots and two composite robust control laws for flexible-joint manipulators which contain uncertainties. The uncertainty, is nonlinear and (possibly fast) time-varying. Therefore, the uncertain factors such as imperfect modeling, function, payload change, and external disturbances are all addressed. Based only on the possible bound of the uncertainty, a robust controller is constructed for the rigid counterpart of the flexible-joint robot Some feedback control terms are then added to the robust control law to stabilize the elastic vibrations at the joints. To show that the proposed composite robust control laws are indeed applicable to flexible-joint robots, a singular perturbation approach and the stability study based on Lyapunov function are proposed.

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Design of a repetitive controller for the system with unstructured uncertainty (비구조적인 불확실성을 가지는 시스템에 대한 반복 제어기의 설계)

  • 도태용;문정호;정명진
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.779-782
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    • 1996
  • Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..

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Robust Depth and Course Control of AUV Using LMI-based $H_{\infty}$ Servo Control (LMI에 기초한 $H_{\infty}$ 서보제어를 이용한 AUV의 강인한 자동 심도 및 방향제어)

  • 양승윤;김인수;이만형
    • Journal of the Korea Institute of Military Science and Technology
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    • v.3 no.1
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    • pp.38-46
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    • 2000
  • In this paper, robust depth and course controllers of AUV(autonomous underwater vehicles) using LMI-based H$_{\infty}$ servo control are proposed. The $H_{\infty}$ servo problem is modified to an $H_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The robust depth and course controllers are designed to be satisfied the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under sea wave and tide disturbances. The performances of the designed controllers are evaluated by computer simulations, and these simulation results show the applicability of the proposed robust depth and course controller.

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