Design and robustness evaluation of an H&lt;inf&gt;∞&lt;/inf&gt; loop shaping controller for a 2DOF stabilized platform

Iqbal, Sohail; Bhatti, Aamer Iqbal; Akhtar, Mohd Afroz; Ullah, Sameeh

doi:10.23919/ecc.2007.7068609

Cited by 12 publications

(11 citation statements)

References 8 publications

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“…For benchmark purposes, the performance of the designed controller is compared with a robust H ∞ loop-shaping controller [4]. Since the stabilized platform is a regulation problem, an impulse-like disturbance is first given to test the performance of both controllers.…”

Section: Simulation Studiesmentioning

confidence: 99%

“…After that, the polytope is employed to design robust controller using Mixed H 2 /H ∞ synthesis with pole-placement constraints [2,3]. At the end of this paper, a comparison of proposed control techniques is made with a Riccati-based H ∞ loop-shaping compensator [4] on the stabilized platform. The simulation results and experimental field trials demonstrated that the controller design through LMI optimization results in a better performance.…”

Section: Introductionmentioning

confidence: 99%

“…In 2004, Fite et al [14] experimentally demonstrated the frequency-domain loop-shaping control methodology to provide transparency, stability, and robustness for a single degree of the freedom master-slave telemanipulator system. In [4], the authors identified a linear system model for a ship-mounted 2DOF parallel manipulator using the auto-regressive exogenous (ARX) technique. This model was then used to design an H ∞ loop-shaping regulator based on Riccati equations to reject disturbance caused by sea waves.…”

Section: Introductionmentioning

confidence: 99%

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Load Varying Polytopic Based Robust Controller Design in LMI Framework for a 2DOF Stabilized Platform

Iqbal

Bhatti

2011

Arab J Sci Eng

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This paper tackles the problem of payload uncertainties through polytopic system formulation and robust controller design for a 2DOF parallel manipulator. Typically, such platforms are used as a base for different payloads, e.g., satellite antenna and camera in oceangoing crafts. Traditionally, these kinds of manipulators are modeled through a time varying nonlinear model, thus providing the rationale for a nonlinear or adaptive controller. Uncertainties due to load variations present a significant challenge for robust control design. In this paper, the authors have proposed a novel and practical approach to solve the variant payload dilemma for the stabilized platform. The novelty lies in extracting different linear models with distinct load conditions using the system identification method and quantifying them into a convex hull to formulate a polytopic system. A regulator is then designed by mixed H 2 /H ∞ synthesis with pole-placement constraints in a linear matrix inequality (LMI) framework to compensate output disturbances. The results are compared with a Riccati-based H ∞ loop shaping controller. It is shown through simulations and experiments that an LMI design is a better choice for achieving robustness as well as performance. The hallmark of this work is the successful testing of the control strategy on a stabilized platform with heavy asymmetric satellite antenna to reject the tides' effect in a deep, turbulent sea.

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Section: Simulation Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Load Varying Polytopic Based Robust Controller Design in LMI Framework for a 2DOF Stabilized Platform

Iqbal

Bhatti

2011

Arab J Sci Eng

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“…It is a particular type of Variable Structure System Control [4,5]. The technique has been successfully implemented for numerous industrial applications [6,7,8,9]. This control methodology can also be used to swing up of an inverted pendulum.…”

Section: Introductionmentioning

confidence: 99%

Steadiness of real time inverted pendulum

Tahir

Iqbal

Bhatti

et al. 2013

Proceedings of 2013 10th International Bhurban Conference on Applied Sciences &Amp; Technology (IBCAST)

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In the area of control theory and engineering, the stabilization of an inverted pendulum with the help of moving cart is one of the attractive regulation problem. It is a perfect benchmark for testing of a wide range of classical and modern control techniques. In this paper Sliding Mode Control (SMC) technique is used to design a control law for stabilization of one stage cart-pole type inverted pendulum system. The chattering problem is solved by using saturation function. The simulations and experimental results are highlighted to evaluate the robustness of the control design.

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“…In [13], a linear identification method was proposed to establish a linear model for the two DOF stabilized platform. An H∞ loop-shaping controller is synthesized based on this linear model.…”

Section: Introductionmentioning

confidence: 99%

Design of an H∞ controller for the Delta robot: experimental results

2015

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This paper deals with an efficient implementation of an H∞ multi-variable controller on the three degrees of freedom (DOF) parallel robot namely the 'Delta robot'. The H∞ controller is designed by the mixed sensitivity approach in which the sensitivity function matrix S and the complementary sensitivity function matrix T are taken into account. For this purpose, a nonlinear analytical dynamic state model is developed and a tangent linearization procedure is used to obtain a multi-variable linear model around a functional point. Real-time experiments were performed to compare the centralized H∞ controller with a classical decentralized Proportional Integral Derivative (PID) controller. Experimental tracking results show that the performances of the PID compared to those of the H∞ decrease when the movement dynamic is increased. At high dynamic (12 Ge), it is shown that the maximum tracking error and the error around the stop positions of the H∞ are, respectively, 80 and 60% of the PID. The experiments of the load variation have proven that the H∞ is more robust than the PID. The steady-state root mean square error of the H∞ is less than 60% of the one obtained using the PID controller.

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Design and robustness evaluation of an H<inf>∞</inf> loop shaping controller for a 2DOF stabilized platform

Cited by 12 publications

References 8 publications

Load Varying Polytopic Based Robust Controller Design in LMI Framework for a 2DOF Stabilized Platform

Load Varying Polytopic Based Robust Controller Design in LMI Framework for a 2DOF Stabilized Platform

Steadiness of real time inverted pendulum

Design of an H∞ controller for the Delta robot: experimental results

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