Robust H∞ controller design for generalized mechanical systems: An approach utilizing physical characteristics

Guisheng Zhai; Nobufumi Naito; Chi Huang

doi:10.1109/SICE.2015.7285435

Robust H_∞ controller design for generalized mechanical systems: An approach utilizing physical characteristics

Guisheng Zhai, Nobufumi Naito, Chi Huang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose an integrated approach of robust controller design for generalized mechanical systems which are composed of interconnected basic mechanical components. More precisely, we assume that the mass is uncertain, and the damping matrix and the stiffness matrix are expressed by a linear combination of several distribution matrices. For this system, we consider a kind of static output feedback with respect to the generalized measurement output vector and its derivative, where the control specification is to require stability of the closed-loop system and certain H_∞ disturbance attenuation level. The structure of the controller is proposed utilizing the mechanical system's physical characteristics. By using the bounded real lemma with the Lyapunov matrix variable focusing on the system matrix's feature, we reduce the control problem to solving simultaneous LMIs with respect to all the variables.

Original language	English
Title of host publication	2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	759-764
Number of pages	6
ISBN (Electronic)	9784907764487
DOIs	https://doi.org/10.1109/SICE.2015.7285435
Publication status	Published - 2015 Sept 30
Event	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: 2015 Jul 28 → 2015 Jul 30

Other

Other	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Country/Territory	China
City	Hangzhou
Period	15/7/28 → 15/7/30

Keywords

damping matrix
Generalized mechanical systems
H control
linear matrix inequalities (LMIs)
static output feedback
stiffness matrix
uncertain mass

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SICE.2015.7285435

Cite this

Zhai, G., Naito, N., & Huang, C. (2015). Robust H_∞ controller design for generalized mechanical systems: An approach utilizing physical characteristics. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 759-764). Article 7285435 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285435

Robust H_∞ controller design for generalized mechanical systems: An approach utilizing physical characteristics. / Zhai, Guisheng; Naito, Nobufumi; Huang, Chi.
2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 759-764 7285435.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhai, G, Naito, N & Huang, C 2015, Robust H_∞ controller design for generalized mechanical systems: An approach utilizing physical characteristics. in 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015., 7285435, Institute of Electrical and Electronics Engineers Inc., pp. 759-764, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 15/7/28. https://doi.org/10.1109/SICE.2015.7285435

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