A twoport framework approach advances in industrial control kindle edition by tsai, miching, gu, dawei. Io all real control systems require some form of io. Introduction robust nitehorizonoptimal control of constrained linear systems subject to additive uncertainty has. Robust control design by feng lin overdrive rakuten. It has numerous applications in both science and engineering. Our goal is to design a robust control that can handle these uncertainties. Pacifico library of congress cataloging in publication data lin, feng.
Design fullorder and reducedorder state observers 5. Some content that appears in print may not be available in electronic books. The approach of partial stabilisation in design of. List of fellows of ieee control systems society wikipedia. An optimal control approach to robust control of robot. Our goal is to design a state feedback to stabilize a system under uncertainty. Robust control design an optimal control approach hardcover. The novel use of the twoport system in this context allows straightforward engineeringoriented solutionfinding procedures to be developed, requiring. Use features like bookmarks, note taking and highlighting while reading robust and optimal control.
Ltr lqg offers a great way to design controllers for mimo systems to achieve some desired performance speci. We apply the optimal control approach rst proposed by lin et al. The novel use of the twoport system in this context allows straightforward engineeringoriented solutionfinding procedures to be developed. An optimal control approach to robust control of robot manipulators feng lin and robert d. Overview robust control considers the design of decision or control rules that fare well across a range of alternative models.
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 propose a new approach to robust control of nonlinear systems. Lin, an optimal control approach to robust control design, international journal of control, 733, 2000, pp. Third, in contrast to most of the literature, we derive closedform robust ordering rate functions for. An optimal control approach to robust control design semantic. For contributions to advanced control techniques in industrial applications and the theory of robust and optimal control systems design 1993. Robust motion control design for dualaxis motion platform.
Robust control design rsp series in control theory and applications series editor. An optimal control approach to robust control design taylor. 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. The approach of partial stabilisation in design of discretetime robust guidance laws against manoeuvering targets m. For contributions to positive systems theory and the behavioral approach to system analysis and control 2012. To this end, several realistic control design examples from teachinglaboratory experiments, such as a twowheeled, selfbalancing robot, to complex systems like a flexiblelink. Robust hovering control of a pvtol aircraft control. Predictive control is a family of optimal control techniques where, at each time instant, a nitehorizon constrained optimal control problem is. Jing sun and hui wang, modified model reference adaptive control with saturated input, proc. We use an optimal control approach 6 to design the robust control law for the harrier jetborne maneuver. 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. Numerical examples and simulations demonstrate robustness of the proposed controller.
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 sampleddatah2 and fault detection and isolation mike lind rank department of automation technical university of denmark ph. Design of robust adaptive fuzzy controller for a class of. Pdf an optimal control approach to robust control of.
Pdf an optimal control approach to robust control of robot. 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. Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms. However, optimal controllers can bevery sensitive to model errors. 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. Feng lin is with the department of electrical and computer engineering, wayne state.
Feng lin college of engineering wayne state university. 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 of robot manipulators. Robust control an entry for the new palgrave, 2nd edition noah williams department of economics, princeton university email. 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.
Fpus are converted into interval system for each alpha cut. Pdf optimal control approach for robust control design. Pdf optimal control approach for robust control design of neutral. The design of robust control systems the design of robust control systems is based on two tasks.
Practitioners will also find the applications presented useful when solving practical problems. An optimal control approach rsp feng lin robust control of timedelay systems qingchang zhong a course in robust control theory geir e. We show that the method can be applied to nonlinear systems that satisfy the matching condition. In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. Pdf we present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997. Semantic scholar profile for feng lin, with 308 highly influential citations and 521 scientific research papers. Robust synchronization controller design of a two coupling. An optimal control approach to robust control design. Robust motion control design for dualaxis motion platform 807 figure 4. Due to the unknown load placed on a manipulator and the other uncertainties in the. This theory has b een dev elop ed largely during 1980s. 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. An optimal control approach operations research, 2018, vol. In this paper, the design of a robust adaptive fuzzy controller for a class of singleinput singleoutput.
The resulting control law has excellent performance as demonstrated by simulations in section v. Proportional pdc designbased robust stabilization and. Robust control encyclopedia of life support systems. Robust control problem is solved via optimal control approach. Robust optimal control with adjustable uncertainty sets. We translate this robust control problem into an optimal control problem of minimizing a cost. Robust optimal control, adjustable uncertainty sets, a ne policies, robust optimization 1. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is.
We present a new optimal control approach to robust control of robot manipulators in the framework of lin 1997. A twoport framework approach advances in industrial control. This design process is done with complete knowledge of the plant. Highlights a new approach for designing robust controller for fuzzy parametric uncertain systems fpus is proposed. 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. This book presents advances in the theory and design of robust nonlinear control systems. 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.
The proposed ppdc control design can greatly reduce the number of adjustable parameters involved in the original pdc and separate them from the. 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 methods are designed to function properly provided that uncertain parameters or disturbances are found within some typically compact set. Download it once and read it on your kindle device, pc, phones or tablets. Robust control systems are especially concerned with the uncertainty included with the measurement of sensors. We propose an optimal control approach to robust control design. Robust controller design for fuzzy parametric uncertain.
Robust methods aim to achieve robust performance andor stability in the presence of bounded modelling errors. 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. Read pdf robust control design an optimal control approach hardcover provide a complete overview of the area. Feng lin, phd, is a senior design engineer in dram design r. Robust control design wiley online books wiley online library.
E cient robust optimization for robust control with. Thus robust control is inherently about model uncertainty. 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. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the. Feng lin, jing sun, leyi wang, a hybrid control architecture with fuzzy interface for intelligent control, proc. Lecture notes in control and information sciences, 1114.
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