Robust motion control design for dualaxis motion platform. We use an optimal control approach 6 to design the robust control law for the harrier jetborne maneuver. Bhattacharyya encyclopedia of life support systems eolss summary robust control is that branch of control theory which deals explicitly with system uncertainty and how it affects the analysis and design of control systems. We propose an optimal control approach to robust control design. Robust control design rsp series in control theory and applications series editor. A twoport framework approach advances in industrial control. Feng lin, jing sun, leyi wang, a hybrid control architecture with fuzzy interface for intelligent control, proc. Proportional pdc designbased robust stabilization and. Lin, an optimal control approach to robust control design, international journal of control, 733, 2000, pp. A twoport framework for robust and optimal control introduces an alternative approach to robust and optimal controller synthesis procedures for linear, timeinvariant systems, based on the twoport system widespread in electrical engineering. The approach is indirect in the sense that we will translate a robust control problem into an optimal control problem and apply optimal control methods to solve the robust control problem. In the first part of the book, the authors provide a unified framework for statespace and lyapunov techniques by combining concepts from setvalued analysis, lyapunov stability theory, and game theory. Because robust control requires a variety of skills to build accurate models of the system, it is related to the system approach of using multidisciplinary design teams. To this end, several realistic control design examples from teachinglaboratory experiments, such as a twowheeled, selfbalancing robot, to complex systems like a flexiblelink.
Pacifico library of congress cataloging in publication data lin, feng. However, optimal controllers can bevery sensitive to model errors. Robust optimal control with adjustable uncertainty sets. Robust control design wiley online books wiley online library. Robust synchronization controller design of a two coupling permanent magnet synchronous motors system xiaohong nian and zhenhua deng transactions of the institute of measurement and control 2014 37. Design fullorder and reducedorder state observers 5. An optimal control approach will be of interest to those needing an introductory textbook on robust control theory, design and applications as well as graduate and postgraduate students involved in systems and control research. In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. Optimal control theory is a branch of applied mathematics that deals with finding a control law for a dynamical system over a period of time such that an objective function is optimized.
Robust control design an optimal control approach hardcover. Pdf an optimal control approach to robust control of. Robust methods aim to achieve robust performance andor stability in the presence of bounded modelling errors. In this paper, the design of a robust adaptive fuzzy controller for a class of singleinput singleoutput. The optimal control approach to robust control design differs from conventional direct approaches to robust control that are more commonly discussed by firstly translating the robust control problem into its optimal control counterpart, and then solving the optimal control problem. Robust control problem is solved via optimal control approach. Feng lin, phd, is a senior design engineer in dram design r. Robust control encyclopedia of life support systems.
Robust hovering control of a pvtol aircraft control. The approach of partial stabilisation in design of discretetime robust guidance laws against manoeuvering targets m. Pdf we present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997. We will then model the aircraft in section iii and design a. This theory has b een dev elop ed largely during 1980s. A twoport framework approach advances in industrial control kindle edition by tsai, miching, gu, dawei. Brandt abstract we present a new optimal control approach to robust control of robot manipulators in the framework of lin et al 7. Robust control an entry for the new palgrave, 2nd edition noah williams department of economics, princeton university email. Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms.
Robust controller design for fuzzy parametric uncertain. Robust sampleddatah2 and fault detection and isolation mike lind rank department of automation technical university of denmark ph. An optimal control approach offers a complete presentation of this approach to robust control design, presenting modern control theory in an concise manner. This book presents advances in the theory and design of robust nonlinear control systems. Pdf an optimal control approach to robust control of robot. Ltr lqg offers a great way to design controllers for mimo systems to achieve some desired performance speci. Robust control systems are especially concerned with the uncertainty included with the measurement of sensors.
Feng lin is with the department of electrical and computer engineering, wayne state. An optimal control approach to robust control design taylor. Predictive control is a family of optimal control techniques where, at each time instant, a nitehorizon constrained optimal control problem is. We translate this robust control problem into an optimal control problem of minimizing a cost. Highlights a new approach for designing robust controller for fuzzy parametric uncertain systems fpus is proposed. We show that the method can be applied to nonlinear systems that satisfy the matching condition. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is. Lin, an optimal control approach to robust tracking of linear systems, international journal of control, 823, 2009, pp. An optimal control approach rsp feng lin robust control of timedelay systems qingchang zhong a course in robust control theory geir e.
E cient robust optimization for robust control with. List of fellows of ieee control systems society wikipedia. The resulting control law has excellent performance as demonstrated by simulations in section v. Semantic scholar profile for feng lin, with 308 highly influential citations and 521 scientific research papers. It has numerous applications in both science and engineering. The design of robust control systems the design of robust control systems is based on two tasks. Numerical examples and simulations demonstrate robustness of the proposed controller. Third, in contrast to most of the literature, we derive closedform robust ordering rate functions for. This design process is done with complete knowledge of the plant. This paper proposes an optimal control approach for a robust control design problem of the neutral type timedelay systems, taking parameter uncertainties and state delay into account. An optimal control approach to robust control of robot manipulators. Thus robust control is inherently about model uncertainty.
Lecture notes in control and information sciences, 1114. We apply the optimal control approach rst proposed by lin et al. Pdf this paper proposes an optimal control approach for a robust control design problem of the neutral type timedelay. Because the uncertainty bound is reflected in the cost, the solution to the optimal control problem is a solution to the robust control problem. Due to the unknown load placed on a manipulator and the other uncertainties in the. Pdf optimal control approach for robust control design of neutral. The proposed ppdc control design can greatly reduce the number of adjustable parameters involved in the original pdc and separate them from the. Robust control design by feng lin overdrive rakuten. This paper presents a proportional parallel distributed compensation ppdc design to the robust stabilization and tracking control of the nonlinear dynamic system, which is described by the uncertain and perturbed takagisugeno ts fuzzy model. The novel use of the twoport system in this context allows straightforward engineeringoriented solutionfinding procedures to be developed, requiring. Some content that appears in print may not be available in electronic books.
For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the. Io all real control systems require some form of io. A control design method that is particularly suitable for the synthesis of controllers for systems with constraints, is predictive control 12,39. For contributions to advanced control techniques in industrial applications and the theory of robust and optimal control systems design 1993. Feng lin college of engineering wayne state university. An optimal control approach to robust control of robot manipulators feng lin and robert d. An optimal control approach to robust control design. We propose a new approach to robust control of nonlinear systems. Use features like bookmarks, note taking and highlighting while reading robust and optimal control. Download it once and read it on your kindle device, pc, phones or tablets. The novel use of the twoport system in this context allows straightforward engineeringoriented solutionfinding procedures to be developed.
Robust synchronization controller design of a two coupling. The approach of partial stabilisation in design of. For contributions to positive systems theory and the behavioral approach to system analysis and control 2012. Our goal is to design a state feedback to stabilize a system under uncertainty. An optimal control approach to robust control of robot. Due to the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is important to design a robust control. We present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997. Introduction robust nitehorizonoptimal control of constrained linear systems subject to additive uncertainty has. Jing sun and hui wang, modified model reference adaptive control with saturated input, proc.
Robust optimal control, adjustable uncertainty sets, a ne policies, robust optimization 1. Design of robust adaptive fuzzy controller for a class of. Practitioners will also find the applications presented useful when solving practical problems. Our goal is to design a robust control that can handle these uncertainties. Overview robust control considers the design of decision or control rules that fare well across a range of alternative models. Pdf optimal control approach for robust control design. Read pdf robust control design an optimal control approach hardcover provide a complete overview of the area. An optimal control approach operations research, 2018, vol. We present a new optimal control approach to robust control of robot manipulators in the framework of lin et al because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is important to design a robust control law that will guarantee the performance of the manipulator under these uncertainties. An optimal control approach to robust control design semantic.