Design And Human In The Loop Simulation Of A Robust Control System
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Author | : Seungwoo Jeong |
Publisher | : |
Total Pages | : |
Release | : 2012 |
Genre | : |
ISBN | : 9781267657596 |
A flight control system with stability and performance robustness is designed using a pseudo-sliding mode synthesis technique. The technique is interpreted in the frequency domain and allows loop shaping principles to be used in creating the sliding manifolds for the controller. The design methodology is evaluated through a desk-top flight simulation program that allows tracking performance assessment and identification of human pilot dynamics in the two axes being controlled by the pilot. Robustness is demonstrated by considering two disparate flight conditions in which the pseudo-sliding mode controller is used with no gain scheduling.
Author | : Chia-Chi Tsui |
Publisher | : CRC Press |
Total Pages | : 305 |
Release | : 2022-06-01 |
Genre | : Technology & Engineering |
ISBN | : 1000562174 |
This book presents a synthesized design principle versus the existing separation principle of modern control theory of over six decades since the start. Guided by this new principle, a generalized state feedback control can be designed based on the parameters of observer and for a great majority of plant systems, and the robust property of this control can be fully realized. The robust property of the existing state feedback control which is designed separate from the parameters of its realizing observer, cannot be realized for a great majority of plant systems. By freely design and adjust the observer order, the corresponding generalized state feedback control can unify completely the existing state feedback control and static output feedback control, and can adjust effectively the tradeoff between performance and robustness. This generalized state feedback control can assign eigen-structure, and can improve performance and robustness far more effectively than the control designed using classical control theory. Equally significant, the results of this book are very simple that can be comprehended and grasped very easily. These results are introduced and illustrated from the basic level, and use only the basic mathematical tools. Ample examples and exercise problems that can be solved by hand computation, are provided. This third edition made substantial improvement on this aspect. Modern control theoreticians only formulated the feedback control design problem in various ways, the point however is to really solve this problem.
Author | : Philippe Feyel |
Publisher | : John Wiley & Sons |
Total Pages | : 211 |
Release | : 2013-06-12 |
Genre | : Technology & Engineering |
ISBN | : 1118574753 |
The loop-shaping approach consists of obtaining a specification in relation to the open loop of the control from specifications regarding various closed loop transfers, because it is easier to work on a single transfer (in addition to the open loop) than on a multitude of transfers (various loopings such as set point/error, disturbance/error, disturbance/control, etc.). The simplicity and flexibility of the approach make it very well adapted to the industrial context. This book presents the loop-shaping approach in its entirety, starting with the declension of high-level specifications into a loop-shaping specification. It then shows how it is possible to fully integrate this approach for the calculation of robust and efficient correctors with the help of existing techniques, which have already been industrially tried and tested, such as H-infinity synthesis. The concept of a gap metric (or distance between models) is also presented along with its connection with the prime factors of a set of systems shaping a ball of models, as well as its connections with robust synthesis by loop-shaping, in order to calculate efficient and robust correctors. As H-infinity loop-shaping is often demanding in terms of the order of correctors, the author also looks at loop-shaping synthesis under an ordering constraint. Two further promising lines of research are presented, one using stochastic optimization, and the other non-smooth optimization. Finally, the book introduces the concept of correction with two degrees of freedom via the formalism of prime factorization. Avenues for future work are also opened up by the author as he discusses the main drawbacks to loop-shaping synthesis, and how these issues can be solved using modern optimization techniques in an increasingly competitive industrial context, in accordance with ever more complex sets of functional specifications, associated with increasingly broad conditions of usage. Contents Introduction 1. The Loop-shaping Approach 2. Loop-shaping H-infinity Synthesis 3. Two Degrees-of-Freedom Controllers 4. Extensions and Optimizations Appendix 1. Demonstrative Elements on the Optimization of Robust Stabilization with Order Constraint Appendix 2. Establishment of Real LMIs for the Quasi-Convex Problem of Optimization of the Weighting Functions About the Authors Philippe Feyel is an R&D Engineer for the high-tech company Sagem Défense Sécurité, part of the defence and security business of the SAFRAN group, in Paris, France.
Author | : Ian R. Petersen |
Publisher | : Springer Science & Business Media |
Total Pages | : 458 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1447104471 |
This is a unified collection of important recent results for the design of robust controllers for uncertain systems, primarily based on H8 control theory or its stochastic counterpart, risk sensitive control theory. Two practical applications are used to illustrate the methods throughout.
Author | : Kamran Iqbal |
Publisher | : CRC Press |
Total Pages | : 190 |
Release | : 2022-09-01 |
Genre | : Technology & Engineering |
ISBN | : 1000794423 |
Control systems are pervasive in our lives. Our homes have environmental controls. The appliances we use at home, such as the washing machine, microwave, etc. have embedded controllers. We fly in airplanes and drive automobiles, which make extensive use of control systems. The increasing automation in the past few decades has increased our reliance on control systems.A First Course in Control System Design discusses control systems design from a model-based perspective as applicable to single-input single-output systems. The emphasis in this book is on understanding and applying the techniques that enable the design of effective control systems. The book covers the time-domain and the frequency-domain design methods, as well as the design of continuous-time and discrete-time systems.Technical topics discussed in the book include: Modeling of physical systems Analysis of transfer function and state variable models Control system design via root locus Control system design in the state-space Control design of sampled-data systems Compensator design via frequency response modification
Author | : Feng Lin |
Publisher | : Wiley-Interscience |
Total Pages | : 392 |
Release | : 2007-09-11 |
Genre | : Science |
ISBN | : |
Based on research into an optimal control approach to robust control design, this book presents an approach that translates robust control problem into its optimal control counterpart. It also offers both theoretical and practical applications, including flexible structure, robotics and aircraft control. It is of interest to postgraduate students.
Author | : Kuo-Chang Han |
Publisher | : |
Total Pages | : 252 |
Release | : 1990 |
Genre | : |
ISBN | : |
Author | : George Papageorgiou |
Publisher | : |
Total Pages | : 0 |
Release | : 1998 |
Genre | : |
ISBN | : |
Author | : Roger Fales |
Publisher | : |
Total Pages | : 232 |
Release | : 2004 |
Genre | : |
ISBN | : |
This dissertation is about control and real time virtual reality simulation of a type of off-highway machine known as a wheel loader. Wheel loaders are hydraulically operated machines which are used for material handling and excavation for construction, industrial, and agricultural purposes. The wheel loader has a linkage attached to the front of the machine used for manipulating a bucket or other work tool. In this dissertation, work is aimed at designing PI, LQG, H[Subscript Infinity], and nonlinear controllers for an electro-hydraulic front loader and comparing these designs for possible implementation on a real-life machine. The controller designs are shown to have various degrees of stability robustness and nominal performance. A nonlinear control design technique know as feedback linearization is used in conjunction with a linear H[Subscript Infinity] control design to yield a control system with superior robustness properties. A virtual reality simulation is developed and used to implement a human-in-the-loop test for evaluating the automatic control system.
Author | : Miomir Vukobratovic |
Publisher | : World Scientific |
Total Pages | : 657 |
Release | : 2009 |
Genre | : Technology & Engineering |
ISBN | : 9812834761 |
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.