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Article: Robust H∞ optimal control of a single flexible link

TitleRobust H∞ optimal control of a single flexible link
Authors
Issue Date1993
Citation
Control, Theory And Advanced Technology, 1993, v. 9 n. 4, p. 887-908 How to Cite?
AbstractIn this paper, we present the results of the controller design of a single flexible link using the H∞ optimization approach. A single flexible link experiment at the University of Waterloo is used to obtain realistic uncertainty models. In this paper, a reduced order model is used by considering the rigid body mode and the first vibratory mode. The neglected higher order modes are modeled as an output multiplicative uncertainty. As well, it is shown that uncertainty in the internal damping of the beam can easily be designed for. The torque disturbances caused by the cable drag of the experimental set up is modeled as an input disturbance. The weighting functions are selected based on these uncertainty models and to satisfy the design specifications. Using the H∞ method, the one parameter and two parameter controllers are designed satisfying robust stability and disturbance rejection. Simulation and experimental results show that the controllers designed for the reduced order model guarantee effective vibration control of the single flexible link against possible uncertainties.
Persistent Identifierhttp://hdl.handle.net/10722/154991
ISSN
1997 Impact Factor: 0.288

 

DC FieldValueLanguage
dc.contributor.authorRavichandran, Ten_US
dc.contributor.authorPang, GKHen_US
dc.contributor.authorWang, Den_US
dc.date.accessioned2012-08-08T08:31:25Z-
dc.date.available2012-08-08T08:31:25Z-
dc.date.issued1993en_US
dc.identifier.citationControl, Theory And Advanced Technology, 1993, v. 9 n. 4, p. 887-908en_US
dc.identifier.issn0911-0704en_US
dc.identifier.urihttp://hdl.handle.net/10722/154991-
dc.description.abstractIn this paper, we present the results of the controller design of a single flexible link using the H∞ optimization approach. A single flexible link experiment at the University of Waterloo is used to obtain realistic uncertainty models. In this paper, a reduced order model is used by considering the rigid body mode and the first vibratory mode. The neglected higher order modes are modeled as an output multiplicative uncertainty. As well, it is shown that uncertainty in the internal damping of the beam can easily be designed for. The torque disturbances caused by the cable drag of the experimental set up is modeled as an input disturbance. The weighting functions are selected based on these uncertainty models and to satisfy the design specifications. Using the H∞ method, the one parameter and two parameter controllers are designed satisfying robust stability and disturbance rejection. Simulation and experimental results show that the controllers designed for the reduced order model guarantee effective vibration control of the single flexible link against possible uncertainties.en_US
dc.languageengen_US
dc.relation.ispartofControl, theory and advanced technologyen_US
dc.titleRobust H∞ optimal control of a single flexible linken_US
dc.typeArticleen_US
dc.identifier.emailPang, GKH:gpang@eee.hku.hken_US
dc.identifier.authorityPang, GKH=rp00162en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0027814112en_US
dc.identifier.volume9en_US
dc.identifier.issue4en_US
dc.identifier.spage887en_US
dc.identifier.epage908en_US
dc.identifier.scopusauthoridRavichandran, T=12141688900en_US
dc.identifier.scopusauthoridPang, GKH=7103393283en_US
dc.identifier.scopusauthoridWang, D=7407072472en_US

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