Search results for "robust control."

showing 8 items of 78 documents

Bimanual robot control for surface treatment tasks

2021

This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation …

Surface (mathematics)0209 industrial biotechnologybusiness.industryComputer scienceWork (physics)Robotics02 engineering and technologyComputer Science ApplicationsTheoretical Computer ScienceRobot controlTask (computing)020901 industrial engineering & automationControl and Systems EngineeringElectrònica0202 electrical engineering electronic engineering information engineeringRobot020201 artificial intelligence & image processingComputer visionArtificial intelligenceRobust controlbusinessRobotic armCiència
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Notice of Violation of IEEE Publication Principles: Robust Delay-Dependent $H_{\infty}$ Control of Uncertain Time-Delay Systems With Mixed Neutral, D…

2011

The problem of robust mode-dependent delayed state feedback H∞ control is investigated for a class of uncertain time-delay systems with Markovian switching parameters and mixed discrete, neutral, and distributed delays. Based on the Lyapunov-Krasovskii functional theory, new required sufficient conditions are established in terms of delay-dependent linear matrix inequalities for the stochastic stability and stabilization of the considered system using some free matrices. The desired control is derived based on a convex optimization method such that the resulting closed-loop system is stochastically stable and satisfies a prescribed level of H∞ performance, simultaneously. Finally, two numer…

Time delaysMarkov processDelay dependentsymbols.namesakeHardware and ArchitectureRobustness (computer science)Control theoryConvex optimizationsymbolsElectrical and Electronic EngineeringRobust controlMarkovian switchingFunctional theoryMathematicsIEEE Transactions on Circuits and Systems I: Regular Papers
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A linear matrix inequality approach to robust fault detection filter design of linear systems with mixed time-varying delays and nonlinear perturbati…

2010

Accepted version of an article in the journal: Journal of the Franklin Institute-Engineering and Applied Mathematics. The definitive version can be found on Sciverse: http://dx.doi.org/10.1016/j.jfranklin.2010.03.004 In this paper, the problem of robust fault detection filter (RFDF) design for a class of linear systems with some nonlinear perturbations and mixed neutral and discrete time-varying delays is investigated. By using a descriptor technique, Lyapunov-Krasovskii functional and a suitable change of variables, new required sufficient conditions are established in terms of delay-dependent linear matrix inequalities (LMIs) to synthesize the residual generation scheme. Based on the Luen…

VDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413Automatic controlComputer Networks and CommunicationsApplied MathematicsVDP::Technology: 500::Mechanical engineering: 570Linear systemLinear matrix inequalityRobust controlControl de robustesaNonlinear controlFault detection and isolationControl automàticFilter designDiscrete time and continuous timeControl and Systems EngineeringControl theorySignal ProcessingSistemes Teoria deRobust controlSystem theoryLinear filterMathematics
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Robust tool point control for offshore knuckle boom crane

2011

Author's version of a chapter in the book: Proceedings of the 18th IFAC World Congress 2011. Also available from the publisher at: http://dx.doi.org/10.3182/20110828-6-IT-1002.03004 This paper considers the design of an H∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane's mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible controller that solves the problem of robust regulation against step inputs with an H∞ constraint based on the internal mode…

VDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413multi-input/multi-output systems state feedback robust controlVDP::Technology: 500::Mechanical engineering: 570
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Robust, direct torque control of induction motor drives in application to industrial manipulator

2002

The paper analyses the application of three-phase small induction motors as the drives for industrial manipulator joints and their control related problems. By introducing a robust control to the whole systems in which the direct torque control is applied to driving motors, the solution presented is not only realistic but also yields high quality of trajectory tracking. The problem is widely illustrated by simulated results of manipulator's operation with that kind of drives including several control system options.

Vector controlTorque motorDirect torque controlControl theoryComputer scienceControl systemTrajectoryControl engineeringIndustrial manipulatorRobust controlInduction motorProceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535)
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Optimization of Delayed-State Kalman-Filter-based Algorithm via Differential Evolution for Sensorless Control of Induction Motors

2010

This paper proposes the employment of the differential evolution (DE) to offline optimize the covariance matrices of a new reduced delayed-state Kalman-filter (DSKF)-based algorithm which estimates the stator-flux linkage components, in the stationary reference frame, to realize sensorless control of induction motors (IMs). The DSKF-based algorithm uses the derivatives of the stator-flux components as mathematical model and the stator-voltage equations as observation model so that only a vector of four variables has to be offline optimized. Numerical results, carried out using a low-speed training test, show that the proposed DE-based approach is very promising and clearly outperforms a cla…

evolutionary algorithms (EAs)induction-motor (IM) drivesvelocity controlspeed sensorlessProportional controlcovariance matricesKalman filteralgorithmsSliding mode controlControl and Systems EngineeringRobustness (computer science)Control theoryAC motor drivesDifferential evolutionoptimization methodsstate estimationElectrical and Electronic EngineeringRobust controlparameter estimationAlgorithmStationary Reference FrameKalman filteringInduction motorMathematics
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Active disturbance rejection control of linear induction motor

2017

This paper proposes the theoretical framework and the experimental application of the active disturbance rejection control to linear induction motors. Such a nonlinear control (ADRC) technique can be viewed as a particular kind of input-output linearization control, where the nonlinear transformation of the state is not computed by means of the model, but it is estimated online. Such an approach permits to cope with unmodelling dynamics, as well as uncertainty in the knowledge of the model parameters and exogenous disturbances. The effectiveness of the proposed ADRC control law has been verified both by numerical simulations and experimentally on a suitably developed test setup. Moreover, t…

rejection of disturbanceEngineering0209 industrial biotechnologyExtended state observer (ESO)rejection of disturbancesComputer scienceLinear induction motor02 engineering and technologyNonlinear controlInductorActive disturbance rejection controlIndustrial and Manufacturing Engineeringextended state observer020901 industrial engineering & automationSettore ING-INF/04 - AutomaticaControl theoryLinearizationstate feedback control0202 electrical engineering electronic engineering information engineeringlinear induction motor (LIM)Feedback linearizationElectrical and Electronic EngineeringTest setupbusiness.industry020208 electrical & electronic engineeringControl engineeringTransformation (function)Control and Systems EngineeringLinear induction motorA priori and a posterioriState (computer science)Robust controlbusinessNonlinear transformationInduction motor
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Robust H<inf>∞</inf> control of Markovian jump systems with mixed time delays

2010

In this paper, the problem of stability analysis and control synthesis for Markovian jump linear systems with time delays and norm-bounded uncertainties is studied. The model under consideration consists of different time-invariant discrete, neutral and distributed delays. Delay-dependent sufficient conditions for the design of a mode-dependent delayed state feedback H ∞ control are given in terms of linear matrix inequalities (LMIs). A controller which guarantees stochastic stability and a prescribed level of H ∞ performance for the closed-loop system is then developed. A Lyapunov-Krasovskii functional (LKF) method underlies the control design. A numerical example with simulation results i…

symbols.namesakeExponential stabilityControl theoryRobustness (computer science)Linear systemsymbolsMarkov processState (functional analysis)Robust controlStability (probability)Mathematics49th IEEE Conference on Decision and Control (CDC)
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