Дисертації з теми "H2/H∞ robust control"
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Nakashima, Paulo Hiroaqui Ruiz. "Controle H2, H∞ e H2/H∞ aplicados a um robô manipulador subatuado." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-08062017-122423/.
This work presents the application results of three control techniques used for the control design and implementation of a serial planar underactuated manipulator with three joints and rigid links, designed and built by the Carnegie Mellon University, USA. Due to the high non-linearity degree of this system, it would be very difficult to implement an H2, H∞ or H2/ H∞ control which would actuate on the system by itself. Therefore, it is proposed a combined control method: computed torque/ H2, H∞ or H2/H∞. In the combined control, the portion corresponding to the computed torque linearizes and pre-compensates the dynamics of the nominal model, while the portion corresponding to the H2, H∞ or H2/H∞ control realizes a pos-compensation of the residual errors, not completely removed by the computed torque method. Trajetory tracking and robustness tests are performed here to demonstrate the efficiency of these controllers, with very satisfatory implementation results.
Olcer, Tuncay Ugurlu. "H2/h." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615636/index.pdf.
robust controllers are widely used in literature for such systems. However, use of such controllers results in very conservative system responses. Based on this fact, in this thesis, development of a more effective robust controller is aimed via integration of the optimum properties of the existent pure H2 and H&infin
type robust controllers. To achieve this, during the controller synthesizing procedure, some of the optimization parameters are weighted according to H2 norm minimization, and parameter uncertainties and other variables are weighted according to H&infin
theorem. First, the system set up to be controlled is physically constructed and performed system identification processes. Then, two different types of robust controllers H2 and H&infin
controllers are designed and tested over both the real system and simulation. Finally an H2/H&infin
mixed type controller synthesized and the results are compared with the outputs of the robust controllers of the previous step.
Hartley, Gerald A. "F-18 robust control design using H2 and H-infinity methods." Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA242562.
Thesis Advisor(s): Collins, Daniel J. Second Reader: Schmidt, Louis V. "September 1990." Description based on title screen as viewed on December 29, 2009. DTIC Identifier(s): Flight control systems, control theory, computer files, theses, input output processing, F-18 aircraft. Author(s) subject terms: Modern control theory, H infinity control theory, H2 control theory, multivariable robustness, F-18 control design or synthesis, super augmented aircraft. Includes bibliographical references (p. 110). Also available in print.
Liang, Yu. "H[subscript 2] optimal control under robust stability and controller degree constraint /." View abstract or full-text, 2009. http://library.ust.hk/cgi/db/thesis.pl?ECED%202009%20LIANG.
Noack, Matti. "Mixed H2/H∞ control for infinite dimensional systems." Master's thesis, Pontificia Universidad Católica del Perú, 2017. http://tesis.pucp.edu.pe/repositorio/handle/123456789/9251.
Tesis
Achnib, Asma. "Développement de la commande CRONE avec effet anticipatif robuste." Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0056/document.
The work presented in this thesis is part of the study of the effectiveness of CRONE control with anticipative effect in the problems of tracking and control for monovariable and multivariable systems. The anticipation objective is to design a control algorithm that minimizes a quadratic error between the reference and the output of the system and at the same time achieve a good level of the control signal. The proposed solution combines a robust feedback control with a feedforward control. The feedforward action uses optimality criteria and an anticipative filter which is designed in the frequency domain using a mix of $mathcal{H}_2$ et $mathcal{H}_infty$ constraints. The reduction of the number of parameters of the anticipative filter by using a slower sampling period for the anticipative filter is treated. Academic examples highlight the theoretical developments. A practical application on a hydraulic control system has shown the efficiency of the developed approach
Fry, Jedediah Micah. "On Integral Quadratic Constraint Theory and Robust Control of Unmanned Aircraft Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/102615.
Doctor of Philosophy
Andrade, Lucas Henrique Salame de. "Técnicas de controle robusto misto H2/H [infinito] aplicadas a um sistema multivariável não-linear." Universidade Tecnológica Federal do Paraná, 2016. http://repositorio.utfpr.edu.br/jspui/handle/1/3212.
This work consists of the investigation, synthesis and practical validation of a robust control system based on minimization of H2 and H∞ norms, using linear matrix inequalities, for stabilization of a multivariable process. A study case on a nonlinear system with two imputs and two outputs is proposed, which consists of the control of temperature variables and fluid level in a reservoir. The main structural and system technology to be used and the fundamentals of modern control strategies will be presented. Control structures will be implemented by the programmable automation controller CompactRIO, together with LabVIEW software development.
Feng, Yu. "Commande H2 - H∞ non standard des systèmes implicites." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00678501.
Legrand, Romain. "Suivi de trajectoire autonome et robuste en milieu agricole." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2022. http://www.theses.fr/2022IMTA0330.
The automation of off-road vehicles has become nowadays a strategic line of research given the recent and profound mutations of agricultural practices. This thesis deals with the conception of two independent controllers of an off-road vehicle, regulating both longitudinal and lateral dynamics. The first regulator aims to minimize the deviations with respect to a reference path by controlling the steering angles. It relies on anextended bicycle model that accounts for the slopes and load transfers. The H2/H∞ multi-objective synthesis allows the consideration of large model uncertainties. The adaptability of this controller is enhanced by the feedback/feedforward architecture which ensures the global robustness of the regulator. The second controller regulates the longitudinal dynamics of the vehicle. It lies on model predictive control. Anti-slip and anti-rollover constraints are explicitly defined during the synthesis of the regulator to ensure the stability of the off-road vehicle operating on slippery sloping grounds. The designed controllers have been tested on a realistic simulator which takes account of great load transfers within the vehicle, which are common in agricultural context. Both controllers have demonstrated satisfactory performances while exploring a variety of slopes and speeds
Mustaki, Simon Éliakim. "Outils de pré-calibration numérique des lois de commande de systèmes de systèmes : application aux aides à la conduite et au véhicule autonome." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2019. http://www.theses.fr/2019IMTA0142/document.
This thesis deals with the tuning of the new Advanced Driving Assistance Systems (ADAS). The development of these systems has become nowadays a strategic line of research for the automotive industry towards the conception of safer and fuel-efficient vehicles.This thesis contributes to a multi-criterion, multi-modeland multi-scenario methodological vision of the tuning process. It is presented through a specific application of the tuning of the Lane Centering Assistance (LCA). It relies on vehicle and environment’s dynamical models of adequate complexity in the aim of formalizing and managing, in a H2/H∞ framework, the trade-off between performance, comfort and robustness. The formulated criteria are easy to compute and defined in a way to be understandable, closely linked to practical specifications. The whole methodology is driven by the research of a pertinent trade-off between realism (being as closest as possible to reality) and complexity (quick evaluation of the criterion). The efficiency and the robustness of the approach is demonstrated through high-fidelity simulations and numerous tests on real vehicles
Fahmy, Sherif Farid Fahmy. "Nonlinear robust H∞ control." Thesis, University of Sheffield, 2006. http://etheses.whiterose.ac.uk/14887/.
Yu, Ningbo. "A mixed H2/H[infinity] problem with degree constraint /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202005%20YU.
On t.p. "2" is lower case and "[infinity]" appears as the infinity symbol. Includes bibliographical references (leaves 110-116). Also available in electronic version.
Patek, Stephen D. (Stephen David). "Robust H[infinity] control via quadratic stabilization." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/12276.
On t.p., "[infinity]" appears subscript, as the mathematical symbol.
Includes bibliographical references (leaves 126-129).
by Stephen David Patek.
M.S.
Monnet, Dominique. "Global minmax optimization for robust H∞ control." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2018. http://www.theses.fr/2018ENTA0009/document.
H∞ control is nowadays used in many applications. This control technique enables to synthesize control laws which are robust with respect to external disturbances. Moreover, it allows to take model uncertainty into account in the synthesis process. As a consequence, H∞ control laws are robust with respect to both external disturbances and model uncertainty. A robust control law is a solution to an optimization problem, formulated from H∞ criteria. These criteria are the mathematical translations of the desired closed loop performance specifications. The two classical approaches to the optimization problem rely on the convex reformulation and local optimization methods. However, such approaches are unable to guarantee the optimality, with respect to the H∞ criteria, of the control law. This thesis proposes to investigate a global optimization approach to H∞ control. Contrary to convex and local approaches, global optimization methods enable to guarantee the optimality of the control, and also to take into account model uncertainty in a reliable way
Haghighizadeh, Navin. "TCP/AQM Congestion Control Based on the H2/H∞ Theory." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35222.
DeVilbiss, Stewart L. "System Identification for H(Infinity) Robust Control Design /." The Ohio State University, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487859313345322.
Davis, Robert Andrew. "Model validation for robust control." Thesis, University of Cambridge, 1995. https://www.repository.cam.ac.uk/handle/1810/251990.
Ma, Fangwu. "Robust H control of off-road vehicle suspension systems." Thesis, Imperial College London, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.405134.
Yucelen, Tansel. "Real-time H[infinity] approach for robust optimal control /." Available to subscribers only, 2008. http://proquest.umi.com/pqdweb?did=1559856341&sid=8&Fmt=2&clientId=1509&RQT=309&VName=PQD.
Friml, Dominik. "Porovnání H-nekonečno a LQG regulace." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413201.
Papageorgiou, George. "Robust control system design : H∞ loop sharing and aerospace applications." Thesis, University of Cambridge, 1998. https://www.repository.cam.ac.uk/handle/1810/272494.
CHAOUBAH, ALFREDO. "ROBUST H2 CONTROL IN RESPECT OF NOM-STRUCTURED PERTUBATIONS: A NORMALIZID COPRIME FACTORS APPROACH." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1999. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=7810@1.
Esta tese teve como objetivo o estudo do problema de Desempenho H2 Robusto, com enfase para o caso de perturbações lineares não estruturadas nos fatores coprimos normalizados da função de transferência que representa uma determinada planta nominal. A primeira parte desta tese foi dedicada à determinação de um novo índice de Desempenho H2 Robusto pela utilização de limitantes superiores, levando em conta dois fatores: melhoria destes limitantes com relação aos limitantes propostos na literatura e viabilidade de sua implementação numérica. A parte seguinte da tese foi dedicada à determinação de elementos que influenciam no Desempenho H2 Robusto. Estes elementos serviram de base para a definição de problemas de controle multiobjetivos que, por sua vez, geraram uma classe de controladores sobre a qual foi otimizado o índice de Desempenho H2 Robusto proposto nesta tese.
The objective of this thesis was the study of the Robust H2 Performance problem, with emphasis on the case of linear and unstructured perturbations on the normalized coprime factors of the transfer function that represents the nominal plant. The first was dedicated to the determination of a new Robust H2 Performance index, by the utilization of upper bounds, taking into accunt two factors: better upper bounds, with relation to upper bonds proposed in the literature, and numerical implementation viability. The second part was dedicated to the determination of elements that have influence in the Robust H2 Performance. These elements became a basis for the definition of multiobjetive control problems, that generate a class of controllers, over which the Robust H2 Performance index, proposed in the first part of this thesis, was optimizated.
Wu, Qinghe. "An application of H{unendlich}⁻theory to decentralized robust control /." Zürich, 1990. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=9116.
Chumalee, Sunan. "Robust gain-scheduled H [infinity] control for unmanned aerial vehicles." Thesis, Cranfield University, 2010. http://dspace.lib.cranfield.ac.uk/handle/1826/6775.
Eagen, Sean Evans. "Robust Optimal Control of a Tailsitter UAV." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/104214.
Master of Science
Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) are a special type of UAV that can takeoff, hover, and land vertically, which lends several benefits. VTOL aircraft have recently gained popularity due to their potential to serve as fast and efficient payload delivery vehicles for e-commerce. One type of VTOL aircraft, the Quadrotor Biplane (QRBP) combines the ability of a quadrotor aircraft to hover, with the efficient horizontal flight of a biplane. Such a vehicle is able to takeoff and land in confined spaces, and also travel large distances on a single battery. However, the takeoff maneuver of a QRBP involves pitching from vertical to horizontal flight, which causes the vehicle to experience strong aerodynamic effects that are difficult to accurately model. Thus, to autonomously perform this unique maneuver, a robust control technique is necessary. A robust UAV controller is one that functions even when there is a degree of uncertainty in the predicted behavior of the vehicle, such as differences between estimated and actual vehicle parameters, or the presence of external disturbances such as wind. Therefore, a robust controller known as H-Infinity is developed to regulate the altitude and pitch angle of the QRBP as it takes off, transitions to forward flight, flies as a biplane, transitions back to vertical flight, and lands. The performance of the proposed control design is validated using numerical simulations performed in MATLAB, and flight tests. The H-Infinity controller successfully tracks the prescribed trajectory, demonstrating its value as a reliable, computationally inexpensive, robust control technique for QRBP UAVs.
Neumann, Donald. "Síntese de controladores robustos H2/H[infinito] D- estáveis via algoritmos evolutivos : uma abordagem LMI / Donald Neumann ; orientador, Humberto Xavier de Araújo." reponame:Biblioteca Digital de Teses e Dissertações da PUC_PR, 2006. http://www.biblioteca.pucpr.br/tede/tde_busca/arquivo.php?codArquivo=547.
Inclui bibliografia
Este trabalho aborda o problema de controle misto H2/H1 de sistemas lineares incertos por realimentação de saída estática ou dinâmica, sujeitos à D-estabilidade. As incertezas do sistema são do tipo paramétricas e os elementos das matrizes dinâmicas do si
Cheang, Sek Un. "Robust control system design : H∞ loop shaping for double inverted pendulum." Thesis, University of Macau, 2002. http://umaclib3.umac.mo/record=b1445662.
譚漢雄 and Hon-hung Tam. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1998. http://hub.hku.hk/bib/B31219925.
Tam, Hon-hung. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures /." Hong Kong : University of Hong Kong, 1998. http://sunzi.lib.hku.hk/hkuto/record.jsp?B19712704.
Sim, Hua Heng Allan. "A constrained optimisation approach for designing reliable robust H∞ control systems." Thesis, Curtin University, 2016. http://hdl.handle.net/20.500.11937/2626.
Malakorn, Tanit. "Multidimensional Linear Systems and Robust Control." Diss., Virginia Tech, 2003. http://hdl.handle.net/10919/26845.
Ph. D.
Prakash, Om. "Multivariable control of the space shuttle remote manipulator system using H2 and H[infinity] optimization." Thesis, Massachusetts Institute of Technology, 1991. http://hdl.handle.net/1721.1/42489.
On t.p., "[infinity]" appears as the infinity sign in subscript.
Includes bibliographical references (leaves 119-120).
by Om Prakash, II.
M.S.
Bianco, Santino Joseph. "Robust Impedance Control of a Four Degree of Freedom Exercise Robot." Cleveland State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=csu1560110051211548.
Hague, Tyler Nicklaus 1975. "An application of robust H₂/H[infinity] control synthesis to launch vehicle ascent by Tyler Nicklaus Hague." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/9247.
Also available online at the MIT Theses Online homepage
In title on t.p., "[infinity]" appears as the symbol in subscript.
Includes bibliographical references (p. 283-286).
This thesis explores the application of H2/H [infinity] control synthesis methods to launch vehicle ascent, specifically the pitch-plane control of the Kistler Aerospace launch vehicle, K1. A classical single-input, single-output design is also presented in order to assess the true applicability of a modern control synthesis approach to launch vehicle ascent. In addition, the K1 dynamics are developed to include aerodynamic, fuel-sloshing, tail-wags-dog, and body-bending effects. The objective of the modern control synthesis approach presented here is to design compensation for pitch tracking and disturbance rejection. It combines techniques in optimal H2, optimal H [infinity], and sub-optimal control synthesis to create pitch control laws that provide 6 dB of gain margin and 302 of phase margin. The sensitivity and high-order of traditional H2/H [infinity] synthesis are addressed through the implementation of uncertainty in the design model and the application of balanced, model order reduction on the resulting controllers. To reduce the complexity in applying these methods, a hierarchical approach and design strategy is employed. Additionally, a graphical user interface is presented that exploits the capabilities of commercial software during the design. A comparison of the two design methods, classical and modern, reveals that each design architecture is capable of creating controllers of equivalent order with both nominal and robust performance. The advantages of the modern approach are realized in the design process itself. The hierarchical methodology and intuitive nature of the modern approach helps to manage the selection of design parameters. Whereas, classical methods provide less insight into strategies for parameter selection and control design. Additionally, the ability to address disturbances and uncertainty in the modern approach offers a more direct alternative to the ad hoc and iterative nature of classical methods, and although not fully exploited here, the modern approach does allow coupling between channels to be accommodated. These conclusions confirm the viability of a modern control synthesis approach and establish the foundation for future development of modern-based, ascent control laws.
S.M.
Claase, Etienne H. "Robust multi-H2 output-feedback approach to aerial refuelling automation of large aircraft via linear matrix inequalities." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80195.
ENGLISH ABSTRACT: In recent years the aviation industry has shown an interest in the airborne refuelling of large transport aircraft to enable increased payload mass at take-off and to extend aircraft range. Due to the large volume of fuel to be transferred, a boom and receptacle refuelling system with a larger fuel transfer rate is employed. The refuelling operation is particularly difficult and strenuous for the pilot of the receiver aircraft, because the position of the receptacle relative to the tanker aircraft must be maintained within a narrow window for a relatively long period of time. The airborne refuelling of a large aircraft is typically much more difficult than that of a fighter aircraft, since the large aircraft is more sluggish, takes much longer to refuel, and has a relatively large distance between its refuelling receptacle and its centre of mass. These difficulties provide the motivation for developing flight control laws for Autonomous In-Flight Refuelling (AIFR) to alleviate the workload on the pilot. The objective of the research is to design a flight control system that can regulate the receptacle of a receiver aircraft to remain within the boom envelope of a tanker aircraft in light and medium turbulence. The flight control system must be robust to uncertainties in the aircraft dynamic model, and must obey actuator deflection and slew rate limits. Literature on AIFR shows a wide range of approaches, including Linear Quadratic Regulator (LQR), μ-synthesis and neural-network based adaptive control, none of which explicitly includes constraints on actuator amplitudes, actuator rates and regulation errors in the design/synthesis. A new approach to designing AIFR flight control laws is proposed, based on Linear Matrix Inequality (LMI) optimisation. The relatively new LMI technique enables optimised regulation of stochastic systems subject to time-varying uncertainties and coloured noise disturbance, while simultaneously constraining transient behaviour and multiple outputs and actuators to operate within their amplitude, saturation and slew rate limits. These constraints are achieved by directly formulating them as inequalities.
AFRIKAANSE OPSOMMING: Die lugvaart industrie toon huidiglik ’n belangstelling in die brandstof oordrag tussen twee groot vervoervliegtuie gedurende vlug, met die doel om die maksimum opstyggewig kapasiteit sowel as die maksimum ononderbroke vlugafstand vermoë van die hervulde vliegtuig te vermeerder. ’n Boom hervulling-stelsel word geïmplementeer om die hoë spoed van brandstof oordrag te voorsien. Die verrigting van vluggebonde hervulling van ’n groot, trae vliegtuig is moeiliker en meer veeleisend as bv. van ’n vegvliegtuig, veral vir die vlieënier van die hervulde vliegtuig, wat sy boom-skakel moet reguleer binne ’n relatiewe klein boom bewegingsruimte vir ’n relatiewe lang tydperk. Die kinematika betrokke speel ook ’n groter rol in ’n groot hervulde vliegtuig a.g.v. die langer afstand tussen die boom-skakel en die massa middelpunt/ draaipunt. Hierdie bied die motivering om ’n beheerstelsel te ontwikkel wat die taak outomaties uitvoer. Die doel van die navorsing is om ’n beheerstelsel te ontwerp wat die boom-skakel van die hervulde vliegtuig outomaties reguleer binne die bewegingsruimte van die boom, gedurende ligte en matige turbulensie. Daar word van die beheerder vereis om robuust te wees teen onsekerhede in die vliegtuig se meganika, sowel as om die beheer oppervlaktes en turbines van die vliegtuig binne hul defleksie-, wringkrag- en sleurtempo-perke te hou. Daar bestaan reeds ’n groot verskeidenheid van benaderings tot die outomatisering van luggebonde hervulling, onder andere LQR, μ-sintese en neurale-netwerk gebaseerde aanpasbare beheer, waarvan geeneen perke op aktueerders en regulasie foute direk in die ontwerp insluit nie. ’n Nuwe benadering word voorgestel wat gebaseer is op Linear Matrix Inequality (LMI) optimering. Die LMI tegniek is relatief nuut in die gebruik van beheerstelsel ontwerp. Dit stel die ontwerper in staat om ’n stogastiese stelsel, onderworpe aan tydvariante-stelsel-variasie en gekleurde ruis versteurings, optimaal te reguleer, terwyl aktueerders en stelsel gedrag direk beperk word.
Tsiakkas, Mihalis. "Foundations of a Bicoprime Factorisation theory : a robust control perspective." Thesis, University of Manchester, 2016. https://www.research.manchester.ac.uk/portal/en/theses/foundations-of-a-bicoprime-factorisation-theory-a-robust-control-perspective(3d007de0-dcbe-4508-a072-f96afb77c26c).html.
Lo, Wai Bun. "Physical modelling and H[infinity] filtering for robust spatio-temporal estimation /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LO.
On t.p. "[infinity]" appears as the infinity symbol. Includes bibliographical references (leaves 88-92). Also available in electronic version. Access restricted to campus users.
Liu, Yong. "Asymptotic design of H2[subscript] and H[subscript infinity] control, regional stability problems, and case studies /." The Ohio State University, 1993. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487846354484377.
Rajnošek, Michal. "Robustní řízení synchronních motorů." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219677.
Maccari, Junior Luiz Antonio. "Projeto e validação experimental de um controlador robusto h2 aplicado a conversores Boost." Universidade Federal de Santa Maria, 2011. http://repositorio.ufsm.br/handle/1/8492.
This dissertation presents as the main contribution the design and experimental validation of a robust H2 controller applied to boost converters with variations on the parameters load resistance, input voltage and operating point duty cycle. First, a polytopic model of the plant is presented, allowing to represent all the possible variations of the parameters within intervals previously established. Design conditions for a robust H2 controller, optimal under the quadratic stability, are detailed and used, allowing to efficiently calculate the controller gains. These gains are implemented with analog circuitry and the closed-loop system is tested by means of simulation and experimental results, which show a good match and illustrate a good performance. Finally, the small perturbation rejection capacity of the closed-loop system subject to parametric variations is evaluated using the H∞ guaranteed cost.
Esta dissertação apresenta como principal contribuição o projeto e a validação experimental de um controlador robusto H2 aplicado a conversores boost com variações nos parâmetros resistência de carga, tensão de entrada e razão cíclica do ponto de operação. Primeiramente, um modelo politópico da planta é apresentado, permitindo representar todas as situações de variações possíveis dos parâmetros mencionados, dentro de intervalos previamente estabelecidos. Condições de projeto de um controlador robusto H2, ótimo sob a estabilidade quadrática, são detalhadas e utilizadas, permitindo calcular eficientemente os ganhos do controlador. Estes ganhos são implementados de forma analógica e o sistema em malha fechada é testado por meio de resultados experimentais e de simulação, que apresentam uma boa correspondência e ilustram um bom desempenho. Por fim, a capacidade de rejeição de pequenas perturbações do sistema em malha fechada sujeito a variações paramétricas é avaliada utilizando o custo garantido H∞.
Tucker, Mark Richard. "Continuous H∞ and discrete time-varying finite horizon robust control with industrial applications." Thesis, University of Leicester, 1998. http://hdl.handle.net/2381/30169.
Yang, Lin. "Linear robust H-infinity stochastic control theory on the insurance premium-reserve processes." Thesis, University of Liverpool, 2015. http://livrepository.liverpool.ac.uk/2037227/.
Hellman, Daniel. "Tidsvariabla system och robust styrning." Thesis, Linköping University, Department of Electrical Engineering, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2399.
Dynamiken för en starkt accelerande robot har modellerats. Modellen linjäriseras så att roboten beskrivs som ett linjärt tidsvariabelt system. Denna representation beskriver roboten väl då robotens anblåsningsvinkel, vilket är vinkeln mellan robotkroppen och robotens hastighet, är liten. Eftersom det ej är möjligt att mäta alla robotens tillstånd har en observatör tagits fram i form av ett Kalmanfilter. Problematik vid framtagandet av observatören diskuteras i rapporten. Den linjära tidsvariabla modellen har använts till att ta fram två regulatorer. En LQ-regulator och en H∞-regulator. Hur dessa tas fram och vilka problem som finns diskuteras i rapporten. För att kunna se fördelar och nackdelar beträffande prestanda och robusthet har en mängd tester gjort. Testerna visar på olika fördelar hos de olika reglersystemen. Till exempel är det lättare att få bra prestanda med LQ-regulatorn än H∞-regulatorn om systemet som styrs stämmer bra överens med systemet som använts vid reglerdesignen. H∞-regulatorn har bättre förmåga att anpassa sig till modellförändringar givet att observatören gör bra skattningar. Det är dock svårt att utnämna en generell vinnare.
Osinuga, Mobolaji. "Weight optimization in H∞ loop-shaping control and applications." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/weight-optimization-in-hinfinity-loopshaping-control-and-applications(58102c35-9a75-44af-9879-4f142ca4aa09).html.
King, Diego Melo. "Controle H2 / H "Infinito' via desigualdades matriciais lineares para atenuação de vibrações em estruturas flexiveis." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265042.
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
Made available in DSpace on 2018-08-04T03:06:58Z (GMT). No. of bitstreams: 1 King_DiegoMelo_M.pdf: 7156086 bytes, checksum: e7d5891f788e5e71c720d6a82897b54d (MD5) Previous issue date: 2005
Resumo: Este trabalho tem como objetivo verificar a ação de uma formulação obtida para o controle misto H2/ Hoo via realimentação de saída de uma estrutura modelada por elementos finÍtos. Para isso, também se verificaram as respectivas formulações via realimentação de saída dos controles H2 e Hoo isoladamente, para que os resultados obtidos em cada um deles pudessem validar o equacionamento descrito neste trabalho para o controle misto e servissem de parâmetro para balizar os seus resultados esperados. Os equacionamentos dos controladores seguiram a formulação da programação semi-definida, isto é, minimizam um objetivo linear sujeito a restrições em forma de LMI. Estas LMI representam as condições de estabilidade a que o sistema está sujeito, e as características da interação entre o modelo e a ação do controlador. Uma vez definidas todas estas condições, o problema de minimização, que é convexo, foi implementado para ser resolvido através do Matlab. Os resultados obtidos pela formulação para o controle misto também foram comparados com resultados produzidos pelas formulações clássicas do próprio Matlab, para que este último também servisse como um aferidor dos resultados da formulação apresentada neste trabalho. O modelo da estrutura, definida para uma viga engastada em balanço, também foi calculado através do Matlab, discretizada nos elementos finÍtos apropriados. As determinações das matrizes de massa, de rigidez elástica e de amortecimento, esta determinada pelo modelo de amortecimento proporcional, fazem a ligação com as matrizes de estado que representam o sistema na formulação utilizada para os controladores. Os resultados do controle misto mostram que a formulação convexa do controle via realimentação de saída é viável. Os valores apresentados pelas normas H2 e Hoominimizadas do sistema, e as respostas deste a uma entrada aleatória exógena, exibem a capacidade do controlador misto. Mesmo para um controle não-colocado, as vibrações da estrutura são atenuadas junto com a minimização do sinal de controle, e os picos da resposta em freqüência, vistos nas funções de resposta em freqüência, são reduzidos
Abstract: This work has the goal to verify the action of a mixed H2/ Hoo control formulation through output feedback for a structure modelIed in finite elements. Therefore, the pure H2 and Hoo control formulations through output feedback are also verified to validate the described equations in this work for the mixed control and show a reference to their expected results. These formulations are based on the semi-definite programming formulation, and consist of minimizing a linear objective subjected to LMI constraints. These LMI represent the system stability conditions and interaction characteristics between the model and the controller. Once all these conditions are settled, the minimization problem, which is convex, was solved through the Matlab software. The results obtained for the mixed control formulation were compared to the classical results obtained with the Matlab. The purpose is to validate the results ofthe formulation obtained in this work. The structure model, defined for a cantilever beam, was also obtained through the Matlab using the finite elements technique. The mass, stiffness and damping matrices, this last one obtained by the proportional damping model, make the connections to the state-space matrices representing the system for the controller formulation. The results obtained for the mixed control show the convex formulation to output feedback may offer good results. The minimized values of H2 and H00 norms and the behaviour of the controlIed systeIl! for the external random input show the capability of mixed control. Even for a noncollocated control problem the structure vibrations are reduced together with the control signal minimization, and the frequency response peaks, visible in the frequency response graphs, are also reduced.
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
Silva, João Henrique Pereira [UNESP]. "Controle robusto h-infinito chaveado para sistemas lineares." Universidade Estadual Paulista (UNESP), 2013. http://hdl.handle.net/11449/87077.
Neste trabalho são propostas condições suficientes para o controle H∞ chaveado de sistemas lineares incertos contínuos no tempo. A técnica abordada para este estudo consiste na utilização de uma função quadrática de Lyapunov e em um caso mais específico, uma função quadrática de Lyapunov por partes. A análise de estabilidade é descrita por meio de Desigualdades Matriciais Lineares (em inglês: Linear Matrix Inequalities), LMIs, que, quando factíveis, são facilmente resolvidas por meio de ferramentas disponíveis na literatura de programação convexa. Assim é apresentada uma metodologia de chaveamento do ganho de realimentação do vetor de estado, que assegura também o critério de desempenho H∞, cuja estratégia busca a obtenção do mínimo valor da derivada de uma função de Lyapunov quadrática. O método foi estendido com o emprego de uma função de Lyapunov quadrática por partes, cujo projeto é baseado nas desigualdades de Lyapunov-Metzler. É demonstrado que esta nova estratégia de chaveamento, além de uma implementação simples, oferece uma flexibilização das LMIs em comparação com os métodos convencionais que também utilizam o controle H∞. A teoria é ilustrada através de exemplos, que permitem comprovar o bom desempenho dos métodos propostos, incluindo a implementação em laboratório do controle de um helicóptero 3-DOF de bancada da QUANSER, sujeito a falhas estruturais.
Sufficient conditions for the switched H∞ control of continuous-time uncertain linear systems are proposed. The technique discussed in this study is based on quadratic Lyapunov functions and a piecewise quadratic Lyapunov functions. The stability analysis is described by LMIs that, when feasible, are easily solved by available tools in the convex programming literature. Thus, a methodology for designing the switching of state vector feedback gains, which also ensures H∞ performance criterion, is presented. This new procedure chooses the state feedback gain that returns the minimum value of the time derivative of the Lyapunov function. The method was extended to a piecewise quadratic Lyapunov function and is designed from the solution of Lyapunov-Metzler inequalities. It is shown that this switching strategy, beyond a simple implementation, offers a relaxation in the LMIs, when compared with the conventional methods used in H∞ control. The procedure are illustrated by means of examples, including an implementation in the control of a 3-DOF helicopter, subject to structural failures.
Silva, João Henrique Pereira. "Controle robusto h-infinito chaveado para sistemas lineares /." Ilha Solteira, 2013. http://hdl.handle.net/11449/87077.
Banca: Edvaldo Assunção
Banca: Márcio Roberto Covacic.
Resumo: Neste trabalho são propostas condições suficientes para o controle H∞ chaveado de sistemas lineares incertos contínuos no tempo. A técnica abordada para este estudo consiste na utilização de uma função quadrática de Lyapunov e em um caso mais específico, uma função quadrática de Lyapunov por partes. A análise de estabilidade é descrita por meio de Desigualdades Matriciais Lineares (em inglês: Linear Matrix Inequalities), LMIs, que, quando factíveis, são facilmente resolvidas por meio de ferramentas disponíveis na literatura de programação convexa. Assim é apresentada uma metodologia de chaveamento do ganho de realimentação do vetor de estado, que assegura também o critério de desempenho H∞, cuja estratégia busca a obtenção do mínimo valor da derivada de uma função de Lyapunov quadrática. O método foi estendido com o emprego de uma função de Lyapunov quadrática por partes, cujo projeto é baseado nas desigualdades de Lyapunov-Metzler. É demonstrado que esta nova estratégia de chaveamento, além de uma implementação simples, oferece uma flexibilização das LMIs em comparação com os métodos convencionais que também utilizam o controle H∞. A teoria é ilustrada através de exemplos, que permitem comprovar o bom desempenho dos métodos propostos, incluindo a implementação em laboratório do controle de um helicóptero 3-DOF de bancada da QUANSER, sujeito a falhas estruturais.
Abstract: Sufficient conditions for the switched H∞ control of continuous-time uncertain linear systems are proposed. The technique discussed in this study is based on quadratic Lyapunov functions and a piecewise quadratic Lyapunov functions. The stability analysis is described by LMIs that, when feasible, are easily solved by available tools in the convex programming literature. Thus, a methodology for designing the switching of state vector feedback gains, which also ensures H∞ performance criterion, is presented. This new procedure chooses the state feedback gain that returns the minimum value of the time derivative of the Lyapunov function. The method was extended to a piecewise quadratic Lyapunov function and is designed from the solution of Lyapunov-Metzler inequalities. It is shown that this switching strategy, beyond a simple implementation, offers a relaxation in the LMIs, when compared with the conventional methods used in H∞ control. The procedure are illustrated by means of examples, including an implementation in the control of a 3-DOF helicopter, subject to structural failures.
Mestre
Moghaddam, Majid M. "Robust H¦0¦0 - based control of flexible joint robots with harmonic drive transmission." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/NQ28295.pdf.
Gibson, Scott Brian. "Improved Dynamic Modeling and Robust Control of Autonomous Underwater Vehicles." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/84468.
Ph. D.