Robustness Analysis of a Closed-loop Controller for a Robot Manipulator in Real Environments

Agbaraji, Emmanuel C.

doi:10.9734/psij/2015/18253

Cited by 4 publications

(4 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Development of Robust SVC controllers using H-Infinity control technique, structured singular value, and quantitative feedback theory (QFT) was presented to improve system damping [19,20]. Robustness control analysis was presented in Agbaraji [26]. Genetic algorithms and fuzzy logic-based methodologies were projected for static var compensation in [21,22].…”

Section: The Use Of Flexible Alternating Currentmentioning

confidence: 99%

A Survey of SVC Device: Its Principle of Operation, Advantages, and Limitations

Moses

2021

CJAST

View full text Add to dashboard Cite

This work focuses on the survey of the Static Var Compensator (SVC) device principle of operation, advantages and limitations. There has been persistent problems of blackout and brownout of the power supply in Nigeria and some other developing nation as a result of the high level of instability existing in the power lines. Due to the increase in the population, expansion of the power line network and also load increase, there has been tremendous level of disturbances being introduced into the power lines. These disturbances can cause low-frequency oscillation which may last long and result to instability in the lines if not adequately damped or compensated. SVC is an electrical device and a type of Flexible Alternating Current Transmission Systems (FACTS) device introduced for providing fast-acting reactive power compensation on high voltage electricity transmission networks for voltage regulation and stabilization. However, the SVC device has no revolutionary parts, for the implementation of surge impedance compensation, and it was identified that the device is not suitable to be employed for the regulation of voltage up and downs because it has limited overload capability. The device was designed for power supply line with less load and simple network. Therefore, SVC device cannot provide adequate compensation to the present power supply line because of the huge, complex load and disturbance in the system. This work recommends that the SVC device must be improved or replaced with newer compensation devices in order to achieve better power supply improvement.

show abstract

Section: The Use Of Flexible Alternating Currentmentioning

confidence: 99%

A Survey of SVC Device: Its Principle of Operation, Advantages, and Limitations

Moses

2021

CJAST

View full text Add to dashboard Cite

show abstract

“…Since the controller design objective is to be able to cancel the effects of possible uncertainty that exists or may arise in the system hence, assuming uncertainty bounds for the controller design limits the robustness capability of the controller when implemented. In order to achieve a robust system therefore, the controller is designed based on the robustness specifications and analysis [21]. Uncertainty can be in any parameter, such as the load carrying by the end effector [22].…”

Section: Literature Reviewmentioning

confidence: 99%

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Agbaraji

Udeani

Inyiama

et al. 2020

JERR

View full text Add to dashboard Cite

This research work emphasizes on design of a robust control for a 3DOF robotic manipulator under uncertainties. The plant model was achieved using the independent joint method and the uncertainty problem was addressed by designing a robust controller using H-Infinity synthesis which was compared with PID. This was achieved with algorithms implemented in MATLAB. The H-Infinity controller recorded 0dB, while PID controller recorded 0.117dB and 0.061dB for joints I and II respectively in Complementary Sensitivity (T) graph at low frequencies. H-Infinity controller achieved better disturbance rejection characteristics with sensitivity (S) graph recording peak sensitivity of 0.817dB and 1.79dB at joints I and II respectively than PID controller which achieved 3dB and 1.86dB at joints I and II respectively. H-Infinity controller achieved better noise rejection characteristics with T graph recording lower gains at joints I and II respectively at high frequencies than PID controller which recorded higher gains at joints I and II respectively. Thus, it was concluded that the H-Infinity controller achieved better performance and stability robustness characteristics for the joint torque control than the PID.

show abstract

“…The step function analysis [27] of the plant which comprises of the TCP and queue models in bode plot measures the stability characteristics of the plant before designing a controller for the plant. Since a plant is supposed to be stable before designing a controller for it, then it becomes very important to carry out this analysis before designing a controller for the system in order to achieve the aim of this research.…”

Section: Step Function Analysis Of the Plantmentioning

confidence: 99%

Performance and Stability Analyses of TCP Queue Based Computer Network

Aririguzo

Mbachu

2020

JERR

View full text Add to dashboard Cite

This research work centers on the performance and stability analysis of the TCP queue based network system. The TCP is a vital organ in every wireless network and due to the increasing reliance on the wireless network by most human activities, it has suffered from different forms of disturbances most especially traffic congestion which eventually results to data loss or total collapse of the network. Many works were reviewed on the TCP model and the methods proposed to improve the performance of the TCP networks. However, from the review, the TCP queue model was not examined based on its performance and reliability, to ascertain the real behavior of the system without the control measures. The step function time domain plot and bode frequency domain plot analyses measures were employed in this work. From the simulation results, the TCP queue with time delay model recorded a 0% overshoot and settling time of 1.96e+03 seconds. With the high settling time the system performance will be very poor as a result of very slow response and it cannot support the recent high data traffic. Therefore, the system will not be able to solve the problem of congestion due to its slow response. The system also recorded a negative gain margin of -71.9dB, hence; the system is unstable and not reliable.

show abstract

Robustness Analysis of a Closed-loop Controller for a Robot Manipulator in Real Environments

Cited by 4 publications

References 20 publications

A Survey of SVC Device: Its Principle of Operation, Advantages, and Limitations

A Survey of SVC Device: Its Principle of Operation, Advantages, and Limitations

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Performance and Stability Analyses of TCP Queue Based Computer Network

Contact Info

Product

Resources

About