H-infinity Based Full State Feedback Controller Design for Human Swing Leg

Ali, Hazem I.; Abdulridha, Azhar J.

doi:10.30684/etj.36.3a.15

Cited by 8 publications

(4 citation statements)

References 11 publications

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“…Robust control has been used to stabilize systems with guaranteed performance [22][23][24][25][26]. The control problem must be expressed as a mathematical optimization problem then the controller that solves this optimization problem is then found.…”

Section: Introductionmentioning

confidence: 99%

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Shafeek,

Ali

2024

JESA

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The control of systems like: bipedal locomotion robots, space launch vehicle, offshore wind turbines, and active vibration control systems in buildings and bridges, have to ensure, besides stability and accuracy, the system's insensitivity to parameters' uncertainties, unmodeled dynamics, external disturbances, and measurements noise. In such systems analysis and controller design, a triple inverted pendulum can be used as a benchmark to mimic systems characteristics and effect of different sources of uncertainty. μ-synthesis is a robust control method which seeks a controller that minimizes the robust H-infinity performance of the closed-loop system through D-K iteration. The D-K iteration is not guaranteed to converge to a global, or even local minimum. Hence this paper proposes the enhancement of controller design by applying gazelle optimization technique to shape the fictitious output by determining the parameters of the performance weighting matrix. The incorporation of optimization with controller design allows avoiding getting unnecessarily conservative system at the expense of performance. The developed control system is simulated using Matlab R2023b for different scenarios of system uncertainty. The results show that the requirements of robustness and performance can be balanced through the right choice of cost function. The robust performance measure obtained is 0.6432 which leads to good response for both stabilization and tracking in the presence of uncertainty. The results also show that even the baseline μ-synthesis design achieves higher robust stability margin about 2.818, the proposed optimized method stabilizes the system with overshoot been reduced by 67.65% and steady state error reduced by 5.69% without sacrificing robustness.

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Section: Introductionmentioning

confidence: 99%

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Shafeek,

Ali

2024

JESA

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“…H-infinity control was utilized to create a dynamic output feedback controller for a human swing leg device in [12]. The findings reveal that the proposed controller can stabilize the system and meet a desired time response specification, but it is still ineffective at detecting disturbances.…”

Section: Introductionmentioning

confidence: 99%

Modified Tracking Differentiator for Enhancing the Performance of Exoskeleton Knee System Based on Active Disturbance Rejection Control

2023

IJCCCE

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Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. The exoskeleton is a small robotic device used for knee injury training. It is a nonlinear mathematical model with many mechanical factors that might vary and produce uncertainty, as well as external disturbances that can be utilized to monitor control. The transitioning process is frequently organized using tracking differentiator TD to resolve the conflict between system speed and overshoot. An active disturbance rejection control (ADRC) with a modified tracking differentiator is described to tackle these challenges, enhance control accuracy, and reduce settling time for exoskeleton modified trajectory differentiator (MTD).Simulation tests showed that (MTD) reduced the tracking error by 36%, when compared with the improved TD1 and 37.5% for Hans TD2 at uncertainty case . Despite the presence of several model uncertainties, the suggested training knee exoskeleton robot system using the MTD-ADRC was able to achieve the necessary target value. Control design and analysis can be done with Matlab and Simulink. Index Terms— Exoskeleton system, ADRC, MTD, nonlinear calculus, robustness

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“…The H-infinity control, which is considered one of the state feedback control, is the most prevalent and successful method in robust control theory in order to reject a disturbance and compensating uncertainties and nonlinearities in the system. It gives excellent performance and stability [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Design of Robust Controller for Nonlinear Systems

Tayyeh¹,

Ali²

2023

MMEP

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In this study, a nonlinear robust state feedback based on H-infinity controller for nonlinear systems is constructed. On the basis of a proposed cost function, the black hole optimization (BHO) method is employed as a successful optimization approach to discover the optimum parameters with relation to the proposed controller. Solving the H-infinity algebraic Riccati equation yields the recommended controller gain matrix. To demonstrate the efficacy of the suggested controller, two categories of nonlinear systems are provided as case studies. Lastly, the simulation findings reveal that the proposed nonlinear controller is capable and enhances the performance and stability of the nonlinear systems.

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H-infinity Based Full State Feedback Controller Design for Human Swing Leg

Cited by 8 publications

References 11 publications

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Modified Tracking Differentiator for Enhancing the Performance of Exoskeleton Knee System Based on Active Disturbance Rejection Control

Design of Robust Controller for Nonlinear Systems

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