Comparative study of H-infinity and sliding mode control for a manipulator with oscillatory-base

Koshy, Rincy; Jayasree, P R

doi:10.1109/iccpct.2017.8074221

Cited by 1 publication

(1 citation statement)

References 14 publications

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“…Robustness is a fundamental requirement for a controller design due to the differences between the dynamic model utilized for devising the controller and the actual physical system [16]. Attempts have been made to compare the robust control characteristics of H ∞ /µ-synthesis control and sliding-mode control for different active vehicle safety systems [17,18]. The H ∞ control technique has been successfully used for addressing robustness problems on models with external disturbances and parametric uncertainties [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

A Design Synthesis Method for Robust Controllers of Active Vehicle Suspensions

Zhu

2022

Designs

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This paper presents a design synthesis method for robust controllers of active vehicle suspensions (AVSs). Various control techniques have been applied to the design of AVSs for enhancing ride comfort and handling performance of ground vehicles. However, most of these model-based controller designs show poor robustness when the vehicle models are not accurate and operating conditions vary. To address the poor robustness problem of AVSs, a new controller is designed using the H∞ loop-shaping control technique. The controller targets robustness issues on vehicle models with parametric uncertainties and unmodelled dynamics. To facilitate the robust controller design, a design synthesis method is proposed: the H∞ loop-shaping controller design is formulated as a multi-objective optimization problem, the weighting functions’ parameters of the controller are treated as design variables, the expensive computing loads are handled by a parallel computing technique, and the solution of the optimization problem is the desired robust AVS controller. Simulation results demonstrate the benefits of the proposed AVS design.

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Section: Introductionmentioning

confidence: 99%

A Design Synthesis Method for Robust Controllers of Active Vehicle Suspensions

Zhu

2022

Designs

View full text Add to dashboard Cite

show abstract

Comparative study of H-infinity and sliding mode control for a manipulator with oscillatory-base

Cited by 1 publication

References 14 publications

A Design Synthesis Method for Robust Controllers of Active Vehicle Suspensions

A Design Synthesis Method for Robust Controllers of Active Vehicle Suspensions

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