Read pdf robust control design an optimal control approach hardcover provide a complete overview of the area. A twoport framework approach advances in industrial control kindle edition by tsai, miching, gu, dawei. Our goal is to design a state feedback to stabilize a system under uncertainty. It has numerous applications in both science and engineering. 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. Lecture notes in control and information sciences, 1114. We show that the method can be applied to nonlinear systems that satisfy the matching condition. 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 design an optimal control approach hardcover. Pdf optimal control approach for robust control design. Robust controller design for fuzzy parametric uncertain.
The novel use of the twoport system in this context allows straightforward engineeringoriented solutionfinding procedures to be developed, requiring. In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. For contributions to advanced control techniques in industrial applications and the theory of robust and optimal control systems design 1993. Highlights a new approach for designing robust controller for fuzzy parametric uncertain systems fpus is proposed. Jing sun and hui wang, modified model reference adaptive control with saturated input, proc. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the. However, optimal controllers can bevery sensitive to model errors. Numerical examples and simulations demonstrate robustness of the proposed controller. Pacifico library of congress cataloging in publication data lin, feng. Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms. E cient robust optimization for robust control with.
Download it once and read it on your kindle device, pc, phones or tablets. Robust control encyclopedia of life support systems. To this end, several realistic control design examples from teachinglaboratory experiments, such as a twowheeled, selfbalancing robot, to complex systems like a flexiblelink. 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. Use features like bookmarks, note taking and highlighting while reading robust and optimal control. Feng lin, phd, is a senior design engineer in dram design r. Pdf an optimal control approach to robust control of. 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. Robust motion control design for dualaxis motion platform. Design of robust adaptive fuzzy controller for a class of.
For contributions to positive systems theory and the behavioral approach to system analysis and control 2012. The design of robust control systems the design of robust control systems is based on two tasks. Because the uncertainty bound is reflected in the cost, the solution to the optimal control problem is a solution to the robust control problem. 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. Robust motion control design for dualaxis motion platform 807 figure 4. Robust control systems are especially concerned with the uncertainty included with the measurement of sensors. Lin, an optimal control approach to robust tracking of linear systems, international journal of control, 823, 2009, pp. An optimal control approach to robust control design. Robust hovering control of a pvtol aircraft control. 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. 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. The proposed ppdc control design can greatly reduce the number of adjustable parameters involved in the original pdc and separate them from the. This theory has b een dev elop ed largely during 1980s. We use an optimal control approach 6 to design the robust control law for the harrier jetborne maneuver.
An optimal control approach to robust control design semantic. Robust control an entry for the new palgrave, 2nd edition noah williams department of economics, princeton university email. Semantic scholar profile for feng lin, with 308 highly influential citations and 521 scientific research papers. Robust control design rsp series in control theory and applications series editor. An optimal control approach operations research, 2018, vol. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is. Third, in contrast to most of the literature, we derive closedform robust ordering rate functions for. Robust methods aim to achieve robust performance andor stability in the presence of bounded modelling errors. Feng lin is with the department of electrical and computer engineering, wayne state. Lin, an optimal control approach to robust control design, international journal of control, 733, 2000, pp.
Robust control methods are designed to function properly provided that uncertain parameters or disturbances are found within some typically compact set. 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. Our goal is to design a robust control that can handle these uncertainties. Due to the unknown load placed on a manipulator and the other uncertainties in the. 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.
A control design method that is particularly suitable for the synthesis of controllers for systems with constraints, is predictive control 12,39. Pdf optimal control approach for robust control design of neutral. We translate this robust control problem into an optimal control problem of minimizing a cost. Pdf an optimal control approach to robust control of robot. This design process is done with complete knowledge of the plant. 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. Robust sampleddatah2 and fault detection and isolation mike lind rank department of automation technical university of denmark ph. Pdf we present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997.
Practitioners will also find the applications presented useful when solving practical problems. Proportional pdc designbased robust stabilization and. This book presents advances in the theory and design of robust nonlinear control systems. 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. An optimal control approach rsp feng lin robust control of timedelay systems qingchang zhong a course in robust control theory geir e. Feng lin, jing sun, leyi wang, a hybrid control architecture with fuzzy interface for intelligent control, proc. An optimal control approach to robust control of robot manipulators feng lin and robert d. An optimal control approach offers a complete presentation of this approach to robust control design, presenting modern control theory in an concise manner. Robust optimal control, adjustable uncertainty sets, a ne policies, robust optimization 1. 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. Predictive control is a family of optimal control techniques where, at each time instant, a nitehorizon constrained optimal control problem is. Ltr lqg offers a great way to design controllers for mimo systems to achieve some desired performance speci. An optimal control approach to robust control design taylor.
Overview robust control considers the design of decision or control rules that fare well across a range of alternative models. 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. In this paper, the design of a robust adaptive fuzzy controller for a class of singleinput singleoutput. Robust control problem is solved via optimal control approach. We will then model the aircraft in section iii and design a. Robust optimal control with adjustable uncertainty sets. An optimal control approach to robust control of robot manipulators. The resulting control law has excellent performance as demonstrated by simulations in section v. 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. Introduction robust nitehorizonoptimal control of constrained linear systems subject to additive uncertainty has. We present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997.
Feng lin college of engineering wayne state university. List of fellows of ieee control systems society wikipedia. We propose an optimal control approach to robust control design. A twoport framework approach advances in industrial control. The approach of partial stabilisation in design of. 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. 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. Thus robust control is inherently about model uncertainty. Io all real control systems require some form of io. Fpus are converted into interval system for each alpha cut.