• Title, Summary, Keyword: Robust Control

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Robust Control via Peak Control of Sensitivity Function (민감도 함수의 최대치 제어를 통한 강인제어)

  • Suh, Sang-Min
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.11
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    • pp.1071-1075
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    • 2009
  • This article describes a robust control method by using peak control of a sensitivity function in the state-feedback control systems. This method apparently reduces the peak, and as a result makes closed loop systems more stable. The designed closed loop systems also make the response to an external step disturbance more fast with a lower undershoot. At the conclusion, it is verified that the proposed method enhances robust stability and robust performance to parametric uncertainties through $\mu$-plot.

Robust Predictive Control of Robot Manipulators with Uncertainties (불확실 로봇 매니퓰레이터의 견실 예측 제어기 설계)

  • 김정관;한명철
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.1
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    • pp.10-14
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    • 2004
  • We present a predictive control algorithm combined with the robust robot control that is constructed on the Lyapunov min-max approach. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design a robust control law that guarantees the desired properties of the manipulator under uncertain elements. In the preceding robust control work, we need to tune several control parameters in the admissible set where the desired stability can be achieved. By introducing an optimal predictive control technique in robust control we can find out much more deterministic controller for both the stability and the performance of manipulators. A new class of robust control combined with an optimal predictive control is constructed. We apply it to a simple type of 2-link robot manipulator and show that a desired performance can be achieved through the computer simulation.

Robust Fault-Tolerant Control for a Robot System Anticipating Joint Failures in the Presence of Uncertainties (불확실성의 존재에서 관절 고장을 가지는 로봇 시스템에 대한 강인한 내고장 제어)

  • 신진호
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.10
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    • pp.755-767
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    • 2003
  • This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

A Study on Power System Stability Enhancement by Robust Control of SPFC and Generators

  • Lee, Byung-Ha
    • KIEE International Transactions on Power Engineering
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    • v.4A no.3
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    • pp.109-114
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    • 2004
  • In this paper, the H$\infty$ control method is applied in the control of SPFC and generators in order to obtain the robust stability performance of the power system. Moreover, a SPFC H$\infty$ controller based on loop shaping is designed to achieve first-rate tracking properties in addition to the robust stability. This robust control method is applied to a Ward and Hale 6-bus power system and the effects are analyzed. The MATLAB program is used for simulation of the robust controller.

Robust Control Design for Flexible Joint Manipulators: Theory and Experimental Verification

  • Kim Dong-Hwan;Oh Won-Ho
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.495-505
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    • 2006
  • A class of robust control for flexible joint manipulators with nonlinearity mismatched uncertainty is designed based on Lyapunov approach. The uncertainties are unknown but their values are within certain prescribed sets. No statistic information of the uncertainties is imposed. The control which utilizes state transformation via virtual control is proposed. The resulting robust control guarantees practical stability for the transformed system and later the stability for the original system is proved. The designed robust control is implemented by experiments in a 2-link flexible joint manipulator.

A tuning method for robust PID controller (강인 PID 제어기 설계)

  • 윤상준;이상정
    • 제어로봇시스템학회:학술대회논문집
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    • pp.585-588
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    • 1996
  • The conventional output feedback robust control designs are very useful for systems under parameter perturbation and uncertain disturbance. However these designs are very complicated and not easily implemented for industrial applications. So, this paper proposes a robust PID controller design method via genetic searching algorithm.

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A Survey of Robust Control in Both Frequency Domain and Time Domain (주파수와 시간영역에서의 강인제어에 관한 연구동향조사)

  • Jeung, Eun Tae;Park, Hong Bae
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.270-276
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    • 2014
  • This survey paper reviews robust control problems in both frequency domain and time domain. Robust control is focused on model uncertainties such as modeling error, system parameter variations, and disturbances. Robust control design problems are discussed according to parameter uncertainty, polytopic uncertainty, and norm-bounded uncertainty. Nowadays, robust control theory is combined with various control theory such as model predictive control, adaptive control, intelligent control, and time delay control.

Robust Predictive Control of Robot Manipulator with The Bound Estimation

  • Kim, Jung-Kwan;Han, Myung-Chul
    • 제어로봇시스템학회:학술대회논문집
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    • pp.155.5-155
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    • 2001
  • The robust predictive control law which use the bound estimation is proposed for uncertain robot manipulators. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about model, it´s an important tend to design a robust control law that will guarantee the desired performance of the manipulator under uncertain elements. In the preceeding work, the robust predictive control law was proposed. In this work, we propose a class of robust predictive control of manipulators with the bound estimate technique and fe stability based on Lyapunov function is presented.

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Nonlinear Modification Scheme for Reducing Cautiousness of Linear Robust Control

  • Maki, Midori;Hagino, Kojiro
    • 제어로봇시스템학회:학술대회논문집
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    • pp.108-111
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    • 1999
  • In this paper, we develope a composite control law for linear systems with norm-bounded time-varying parameter uncertainties, which consists of a basic linear robust control do-signed so as to generate a desired transient time-response for the worst-case parameter variation and a nonlinear modification term designed so as to reduce cautiousness of the linear robust control in an adaptive manner. The proposed controller is established such that the reduction of cautiousness of the linear robust control is well incorporated into the achievement of a good transient behavior.

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Web Lateral Control of Cold Rolling Mill Systems Using a Robust PID Control (강인 PID 제어를 이용한 냉간압연 시스템의 웹 횡방향 제어)

  • Park, Chintac;Kim, In-Soo;Lee, Young-Jin;Kim, Jong-Shik;Lee, Man-Hyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.5
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    • pp.373-384
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    • 2002
  • This paper presents a robust PID controller design technique using the concept of model matching method in the frequency domain. To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input, first an H$\infty$ controller satisfying given performance is designed using the H$\infty$ control method. And then, the parameters(proportional, integral, and derivative gains) of the robust PID controller are determined using the model matching at frequency domain. The proposed technique is applied to a position controller design of the web. The simulation results show that the proposed robust PID controller satisfies disturbance attenuation and tracking property.