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Loop-shaping h∞ control of an aeropendulum model

Breganon Ricardo, Alves Uiliam Nelson L. T., De Almeida João Paulo L.S., Ribeiro Fernando S. F., Mendonça Marcio, Palácios Rodrigo H. C., Montezuma Marcio A. F.

International Journal of Applied Mechanics and Engineering

2021

Vol. 26, no. 4

1--16

This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping h∞control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the h∞ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the h∞ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.

Experimental verification of H∞ control with examples of the movement of a wheeled robot

Hendzel Zenon, Penar Paweł

Bulletin of the Polish Academy of Sciences. Technical Sciences

2021

Vol. 69, nr 6

art. no. e139390

The paper presents the results of experimental verification on using a zero-sum differential game and H∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.

Preview Control: A Review

Vikram, Singla S. K., Dewan L.

Przegląd Elektrotechniczny

2013

R. 89, nr 2a

134--138

The advanced knowledge of reference signal plays a vital role in enhancing the tracking performance of a control system. Disturbance rejection can also be improved if future values of exogenous signals are available. The use of future information (reference and/or disturbance) in the design of control systems is termed as “preview control”. In preview control, a controller can look ahead and use information about the command from time t to time t+tla where tla is called the preview length. Preview control is related to a distinct class of control problems with a preview length that spreads for a fixed time into the future. In this paper a review of preview control has been presented.

W artykule przedstawiono przegląd metod sterowania bazującego na informacji o przyszłych wartościach zadanych i zakłóceniach. Metody te pozwalają na „podgląd” przyszłego stanu układu i uwzględnienie tych informacji w algorytmie sterowania.