Robust non-linear control and tracking design for multi-input multi-output non-linear perturbed plants

Deng, Mingcong; Bi, Shuhui; Inoue, Akira

doi:10.1049/iet-cta.2008.0218

Cited by 42 publications

(23 citation statements)

References 18 publications

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“…In this paper, we select the initial time t0 = 0 and w0 = 0. Furthermore, based on the result in [14], an output tracking operator M can be designed, where M is a designed stable operator. Since robustly stable condition is satisfied, the effects from perturbation cannot be transmitted back to error signal e. This shows that Fig.…”

Section: Sn(w)(t) + Rd(w)(t) = I(w)(t)mentioning

confidence: 99%

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Operator-based robust nonlinear control and fault detection for a Peltier actuated thermal process

Wen

Deng

2013

Mathematical and Computer Modelling

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a b s t r a c tIn this paper, operator-based robust nonlinear control design scheme and fault detection technique using robust right coprime factorization approach are considered for a Peltier actuated thermal process. The Peltier actuated thermal process is a typical nonlinear control affine system, where the process temperature depends not only on input current, but also on the square of the input current. In addition, the real system is likely to contain a fault signal owing to various factors. As a result, it is difficult to stabilize the control system and to achieve high accurate control performance, and to detect the fault signal to guarantee the engineering safety when a fault occurs. In this paper, for pursuing robust stability and tracking performance of the nonlinear closed-loop control system, a design scheme of operator-based robust tracking control system is proposed by using robust right coprime factorization approach. Then, for the tracking operator control system, a fault detection design technique based on robust right coprime factorization approach is also investigated. Finally, simulation and experimental results are given to confirm the effectiveness of the proposed method.

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Section: Sn(w)(t) + Rd(w)(t) = I(w)(t)mentioning

confidence: 99%

“…Operator theory is an advanced control theory based on an idea that a signal in the input space is mapped to the output space, and some researches in regards to the theory have been conducted [9][10][11][12][13][14][15]. The robust stability of the perturbed nonlinear process was studied by Chen and Han [9].…”

Section: Introductionmentioning

confidence: 99%

Operator-based robust nonlinear control and fault detection for a Peltier actuated thermal process

Wen

Deng

2013

Mathematical and Computer Modelling

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“…Addressing this problem, and also for the purpose of real application, an operator-based robust nonlinear control design for a manipulator by using robust right coprime factorization approach has been proposed [17], it is based on input output spaces. It is well known that operator-based robust right coprime factorization approach has been a promising approach for analysis, design, stabilization and control of non linear system with disturbances and model uncertainties [18][19][20][21][22]. Especially, robust right coprime factorization has attracted much attention due to its convenient in researching input output stability problems of nonlinear system with uncertain ties.…”

Section: Mingcong Dengmentioning

confidence: 99%

Operator-based robust nonlinear perfect tracking control design to a robot arm with uncertainties

Wang

Wen

et al. 2013

Proceedings of the 2013 International Conference on Advanced Mechatronic Systems

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In this paper, an operator-based robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using robust right coprime factorization approach.In general, there exist unknown modeling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modeling errors and disturbance on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, an operator-based ro bust nonlinear perfect tracking control using robust right coprime factorization is studied. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal condition, the effect of uncertain plant is eliminated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results.

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“…It is well known that right coprime factorization has been a promising approach for analysis, design, stabilization and control of nonlinear system [5]. Especially, robust right coprime factorization has attracted much attention due to its convenient in researching input-output stability problems of nonlinear system [6,7,8,9]. On the whole, this approach has been proved effective in theoretical studies and practical applications on nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Operator based Robust Nonlinear Control Design to an Ionic Polymer Metal Composite with Uncertainties and Input Constraints

Wang¹,

Wei²,

Wang³

2014

Appl. Math. Inf. Sci.

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Abstract:In this paper, robust nonlinear control design to an ionic polymer metal composite (IPMC) with uncertainties and input constraints is studied. The IPMC is a novel smart polymer material, and many potential applications for low mass high displacement actuators in biomedical and robotic systems have been shown. In general, the IPMC has highly nonlinear property, and the control input is subject to some constraints to ensure safety and longer service life of IPMC. Moreover, there exist uncertainties caused by identifying some physical parameters and approximate calculation in dynamic model. As a result, considering measurement error of parameters and model error, a practical nonlinear model is obtained, and a nonlinear robust control design with uncertainties and input constraints using operator-based robust right coprime factorization is proposed. The effectiveness of the proposed control method based on obtained nonlinear model is confirmed by simulation and experimental results.

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Robust non-linear control and tracking design for multi-input multi-output non-linear perturbed plants

Cited by 42 publications

References 18 publications

Operator-based robust nonlinear control and fault detection for a Peltier actuated thermal process

Operator-based robust nonlinear control and fault detection for a Peltier actuated thermal process

Operator-based robust nonlinear perfect tracking control design to a robot arm with uncertainties

Operator based Robust Nonlinear Control Design to an Ionic Polymer Metal Composite with Uncertainties and Input Constraints

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