Application of the mixed sensitivity problem H&amp;#x221E; and H&lt;inf&gt;2&lt;/inf&gt; to the parallel Delta

Rachedi, Meryam; Hemici, Boualem; Bouri, Mohamed

doi:10.1109/icosc.2013.6750903

Cited by 6 publications

(5 citation statements)

References 8 publications

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“…7). The robustness in the stability of the system to cope with uncertainties due to the neglected modelling dynamics can be ensured if the control device is designed in such a way that the following condition is met [53, 54]:

\overset{false¯}{σ} false(T false(j w false) false) ⩽ \frac{1}{(||, W_{y} false(j w false))} \forall w \Leftrightarrow {(∥∥, W_{y} T)}_{normal∞} ⩽ 1 .

…”

Section: Selection Of Weighting Functionsmentioning

confidence: 99%

Robust three degrees of freedom based onH∞ controller of voltage/current loops for DG unit in micro grids

Bouzid

Sicard

Chaoui

et al. 2019

IET Power Electronics

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This study proposes a cascaded voltage-current robust control strategy for a distributed generator (DG) in microgrids. The main objective of the proposed controller is to improve the performance and power quality of a DG by injecting simultaneously a good sinusoidal voltage/current to the different loads connected to the DG. The proposed cascaded voltage/ current controller consists of three degree-of-freedom controller, which is designed by using H∞ control theory based on mixed sensitivity specifications. The choices of appropriate weighting functions W t , W u , W y that satisfy the preset goals to get a robust controller and a transform to a standard H∞ control design problem based on pre-compensator, feedforward and feedback connections are presented. The 3DOF-controller is based on MATLAB R/SimPowerSystems and using RT-EVENTS-toolbox. The controller is evaluated under different scenarios: transient responses with a resistive local load, and loads disturbances in steady-state responses with resistive, resistive inductive, resistive capacitive, and non-linear loads. Simulation and experimental results of resulting waveforms from a DG unit are presented, it confirms the effectiveness of the proposed method in effectively rejecting perturbation and robustness to loads disturbances; both good reference tracking and good transient response, and finally significantly lead to a very low total harmonic distortion.

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\overset{false¯}{σ} false(T false(j w false) false) ⩽ \frac{1}{(||, W_{y} false(j w false))} \forall w \Leftrightarrow {(∥∥, W_{y} T)}_{normal∞} ⩽ 1 .

…”

Section: Selection Of Weighting Functionsmentioning

confidence: 99%

Robust three degrees of freedom based onH∞ controller of voltage/current loops for DG unit in micro grids

Bouzid

Sicard

Chaoui

et al. 2019

IET Power Electronics

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“…For nonlinear systems, control methods mainly include feedback linearization (Bechlioulis and Rovithakis, 2008), H∞ control (Rachedi et al , 2014), intelligent control (Cao et al , 2022; Liang et al , 2022; Pan et al , 2022), sliding mode control (Polyakov, 2011) and so on. Among them, the design of dynamic sliding mode control is independent of the precise model of the controlled object, and it has the advantages of strong robustness, fast response speed and easy implementation, which has attracted the attention of researchers in solving the uncertainty problem of hybrid mechanism.…”

Section: Introductionmentioning

confidence: 99%

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Gao

Sun

Cao

2023

RIA

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Purpose This paper aims to solve the problems of the synchronization between branches and the uncertainties such as joint friction, load variation and external interference of a hybrid mechanism. The controller is used to improve the synchronization and robustness of the hybrid mechanism system and achieve both finite time convergence and chattering-free sliding mode. Design/methodology/approach First, the dynamic model of hybrid mechanism containing lumped uncertainties is formulated by the Lagrange method, and a composite error based on coupling synchronization error and the end-effector tracking error is set up in the task space. Then, by combining the finite time super twisting sliding mode control algorithm, a composite error-based finite time super twisting sliding mode synchronous control law is designed to make the end-effector tracking error and coupling synchronization error achieve better tracking performance and convergence performance. Finally, the Lyapunov stability of the control law and the finite-time convergence of the composite error are proved theoretically. Findings To verify the effectiveness of the proposed control method, simulations and experiments for the prototype system of the hybrid mechanism are conducted. The results show that the proposed control method can achieve better tracking performance and convergence performance. Originality/value This is a new innovation for a hybrid mechanism containing lumped uncertainties to improve the robustness, convergence performance, tracking performance and synchronization of the system.

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“…e existing control strategies that have been applied to the parallel robot include PID control [7][8][9][10][11], calculated torque control [12][13][14][15][16][17], and sliding mode variable structure control [18][19][20]. ese methods have higher requirements on the model of the control object, and the operating conditions and operating environment are deterministic.…”

Section: Introductionmentioning

confidence: 99%

“…e method of calculating torque control is to simplify the dynamic model of each joint and carry out decoupling control, which can achieve linear control of each joint. In literature [12][13][14][15][16][17], the dynamics control of the robot is realized based on the computational torque control method which achieves a good trajectory tracking control. In order to improve the tracking performance of the system, various improvements and compensations are made to predict or calculate the torque in the literature, and the robustness of the system is analyzed.…”

Section: Introductionmentioning

confidence: 99%

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Liu

Cheng

Liu

et al. 2020

Mathematical Problems in Engineering

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In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

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Application of the mixed sensitivity problem H∞ and H<inf>2</inf> to the parallel Delta

Cited by 6 publications

References 8 publications

Robust three degrees of freedom based onH∞ controller of voltage/current loops for DG unit in micro grids

Robust three degrees of freedom based onH∞ controller of voltage/current loops for DG unit in micro grids

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

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