Topic
Robust control
About: Robust control is a research topic. Over the lifetime, 42034 publications have been published within this topic receiving 810526 citations.
Papers published on a yearly basis
Papers
More filters
••
20 Oct 2009TL;DR: In this paper, the concept of structural stability is introduced to capture the requirements of robust stability under various system configurations due to component failures, which will guarantee a level of fault tolerance in case of control failure during its operation.
Abstract: Currently, all Electric Power Assist Steering (EPAS) systems employ a pinion torque sensor, between the steering column and pinion, to determine the amount of the torque assist to the driver. This torque assist is calculated via a tunable nonlinear boost curve. Then, this signal is used as control command to the electric motor to achieve the desirable level of assist. In this paper, torque estimators are devised to generate accurate estimates of the driver torque input and eliminate the need of the pinion torque sensor. Together with measured signals such as steering wheel rotational position, these estimates provide signals for a robust controller that consists of a feedforward part vs. the boost curve and an H∞ optimal feedback to ensure refined performance, robustness, and disturbance attenuation. Introduction of estimators results in additional feedback loops and ushers in new issues of robust stability and performance. The concept of structural stability is introduced to capture the requirements of robust stability under various system configurations due to component failures. The requirements will guarantee a level of fault tolerance in case of control failure during its operation. Conditions are provided under which such structural stability is maintained.
17 citations
••
01 Oct 2013TL;DR: In this article, the authors deal with the problems of stabilization of the observation equipment operated at the unmanned aerial vehicles in difficult conditions of the vigorous disturbances and develop a mathematical model of the triaxial stabilization system.
Abstract: This paper deals with the problems of stabilization of the observation equipment operated at the unmanned aerial vehicles in difficult conditions of the vigorous disturbances. The mathematical model of the triaxial stabilization system is developed. The problem statement and basic stages of the robust structural synthesis are analyzed. The results of the synthesized system simulation are given.
17 citations
••
TL;DR: In this article, a robust adaptive variable structure control scheme (RAVSC) is proposed to control a nonlinear multi-inputs multi-outputs (MIMO) model of an industrial boiler-turbine unit, in the presence of significant uncertainties and external disturbances.
17 citations
••
08 Jun 2005TL;DR: In this paper, the robust trajectory tracking problem for a general class of nonholonomic systems with velocity constraints in the presence of uncertainties is addressed, and a sliding mode control scheme is presented to guarantee trajectory tracking of closed-loop system.
Abstract: This paper addresses the robust trajectory tracking problem for a general class of nonholonomic systems with velocity constraints in the presence of uncertainties. The development of the proposed algorithm is based on sliding mode control technique. First, for the purpose of designing controllers, the conservative upper-bounded function of dynamics model of nonholonomic systems is derived based on the dynamics structure properties. Then, a sliding mode control scheme is presented to guarantee trajectory tracking of closed-loop system. The asymptotical or exponential stability is obtained in the Lyapunov sense. Finally, simulation examples are given to demonstrate the proposed approach.
17 citations
••
12 Dec 2005
TL;DR: The adaptive fuzzy sliding mode control is applied to the attitude stabilization of flexible satellite and the hitting control, which guarantees the stability of the control system, is developed.
Abstract: The adaptive fuzzy sliding mode control is applied to the attitude stabilization of flexible satellite. The detailed design procedure of the fuzzy sliding mode control system is presented. The adaptive fuzzy control is utilized to approach the equivalent control of sliding mode control and the adaptive law is derived. The hitting control, which guarantees the stability of the control system, is developed. In order to attenuate the chattering phenomena, fuzzy rules are employed to smooth the hitting control. Simulation results show precise attitude control is accomplished based on the proposed method.
17 citations