Motor Model-based Optimal Robust Guaranteed Cost Control for Two-motor Web-winding System

Hongyun Xiong,Yipeng Lv,Bin Cheng,Xiaohong Nian,Xiaoyan Chu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11

In this paper, a novel comprehensive model for the two-motor web-winding system is proposed, which combines the classical web-winding system model with the driven-motor model. Based on the proposed model, the state feedback robust control (SFRC) strategy is designed to handle systematic uncertainty and time-varying parameters. And then in order to reduce the control cost of the web-winding system, an optimal robust guaranteed cost control (ORGCC) approach is studied. First, the reference control inputs and error dynamic model are derived based on the proposed comprehensive model. Then, the SFRC strategy and ORGCC approach are designed to calculate control compensation. By regarding some suitable parameters as interval variables, the proposed controllers have good robustness for parameter variations and environmental disturbance. Finally, the simulation results illustrate the effectiveness of the proposed model and control.

Robust Multi-Objective H∞ Reliable Control for Delta Operator Switched Uncertain Linear Systems

Hao Hu,Bin Jiang,Hao Yang,Shumsky Alexey 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.3

This paper deals with the robust guaranteed-cost H∞ reliable control problem for delta operator switched uncertain linear systems with actuator faults. The upper bound of the guaranteed-cost function is determined and the closed-loop system can be guaranteed some H∞ performance by using arbitrary and state switching control approaches. Finally, a simulation example is provided to illustrate the efficiency of the proposed methods.

Robust Output Observer-Based Guaranteed Cost Control of a Class of Uncertain Switched Neutral Systems with Interval Time-Varying Mixed Delays

Hamid Ghadiri,Mohammad Reza Jahed-Motlagh,Mojtaba Barkhordari Yazdi 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.6

This paper considers the robust output observer-based guaranteed cost control (GCC) for a class of un-certain switched neutral systems (USNSs) where delays are discrete, neutral, and time-varying. This research emphasizes the cases where uncertainties are norm-bounded and time-varying. The GCC is the problem of obtaining an adequate level of performance index in addition to the exponential stability from a practical perspective. First, delay-dependent sufficient conditions are suggested using the average dwell time approach and the piecewise Lyapunov function technique in terms of a set of linear matrix inequalities to guarantee the robust exponential stability via the output observer-based controller. The problem of uncertainty in USNSs is solved by designing a robust output observer-based control and applying Yakubovich lemma. Then, the corresponding conditions are obtained for USNSs via the applied controller under the GCC. The controller and the observer in an observer-based control problem cannot be designed separately, meaning that a separation principle does not hold in this re-search. Finally, a numerical example is given to determine the effectiveness of the proposed theory.

An ILMI Approach to Guaranteed Cost Controllers with a Minimal Order Observer

Daisuke Matsunaga,Mitsuaki Ishitobi,Sadaaki Kunimatsu 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper presents a design scheme of a minimal order observer-based guaranteed cost controller for uncertain linear systems, in which some state variables cannot be measured. The perturtations are assumed to be described by structural uncertainties. An iterative linear matrix inequality(ILMI) approach is used to design the observer_based controller. A numerical example is given to illustrate the proposed method.

변수 불확실성을 가지는 이산시간 특이시스템의 강인 안정화 및 강인 보장비용 제어

김종해(Jong Hae Kim) 대한전자공학회 2009 電子工學會論文誌-SC (System and control) Vol.46 No.3

본 논문에서는 변수 불확실성을 가지는 이산시간 특이시스템의 강인 안정화 기법과 강인 보장비용 제어기법을 다룬다. 제안하는 제어기법은 제어기 존재조건에서 준정부호조건(semi-definite condition)이나 시스템 행렬의 분해 없이 볼록최적화(convex optimization)가 가능한 선형행렬부등식 접근방법을 이용하여 제안한다. 먼저, 강인 안정화 상태궤환 제어기는 폐루프 시스템의 정규성, 코잘 및 안정화를 만족하는 제어기의 존재조건과 설계방법을 선형행렬부등식으로 제시한다. 그리고 보장비용 함수의 상한치의 최소화를 보장하는 강인 보장비용 제어기 설계방법은 강인 안정화 제어기 설계를 기반으로 제안한다. 예제를 통하여 제안한 제어기 설계기법의 타당성을 확인한다. In this paper, we consider the design problem of robust stabilization and robust guaranteed cost state feedback controller for discrete-time singular systems with parameter uncertainties by LMI (linear matrix inequality) approach without semi-definite condition and decomposition of system matrices. The objective of robust stabilization controller is to construct a state feedback controller such that the closed-loop system is regular, causal, and stable. In the case of robust guaranteed cost control, the optimal value of guaranteed cost and controller design method are presented on the basis of robust stabilization control technique. Finally, a numerical example is provided to show the validity of the design methods.

Robust Guaranteed Cost Control for a Class of Nonlinear 2-D Systems with Input Saturation

Xuhui Bu,Jiaqi Liang,Sen Wang,Wei Yu 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.2

In this paper, a robust guaranteed cost controller is designed for a class of two-dimensional(2-D) discrete time systems described by Roesser model, where the system simultaneously contains input saturation, parametric uncertainty and sector nonlinearity. Firstly, a convex hull representation is used to describe saturated input of the system. Secondly, a sufficient condition for ensuring the asymptotic stability of the closed-loop system and the existence of the robust guaranteed cost controller is given according to the Lyapunov stability theory. Then, this sufficient condition is transformed into a linear matrix inequality form by using Schur complement lemma and the design of robust guaranteed cost controller is realized by the solution of LMI. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

Path following of a surface ship sailing in restricted waters under wind effect using robust H_∞ guaranteed cost control

Wang, Jian-qin,Zou, Zao-jian,Wang, Tao The Society of Naval Architects of Korea 2019 International Journal of Naval Architecture and Oc Vol.11 No.1

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust $H_{\infty}$ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust $H_{\infty}$ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

Path following of a surface ship sailing in restricted waters under wind effect using robust H∞ guaranteed cost control

Jian-qin Wang,Zao-jian Zou,Tao Wang 대한조선학회 2019 International Journal of Naval Architecture and Oc Vol.11 No.1

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust H∞ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust H∞ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

자기 공명영상 시스템의 수소원자 공명 주파수법을 이용한 생체 내 열 전달 관찰

조지연,조종운,이현용,신운재,은충기,문치웅 대한전자공학회 2003 電子工學會論文誌-SC (System and control) Vol.40 No.3

본 연구에서는 자기공명영상(MRI)에서 수소 원자핵의 공명주파수(PRF) 방법을 기반으로 인체 종아리 근육 외부의 열원에 의해 근육 내부로 열원이 전달되는 과정을 비침습적으로 관찰하는 방법을 제시한다. 열전달과정을 온도 변화로 측정하였는데 온도 영상의 안정성 및 보정 실험은 phantom을 이용하였고 온도의 변화는 phantom과 인체 모두에서 측정하였다. Phantom 실험은 agarose gel을 중탕하여 약 50℃까지 가열시킨 후 1시간의 냉각과정 동안 매 3분마다 데이터를 획득하였다. 인체 실험에서는 지원자의 종아리(the calf)에 hot pack을 이용하여 열을 전달하였다. Hot pack을 발열시키기 전에 기준 데이터를 1번 획득하고, 발열시킨 후부터 매 2분마다 30분 동안 데이터를 획득하였다. 획득된 영상 데이터는 위상차 영상으로 재구성된 다음 각 ROI에서의 평균 위상차를 관측하였다. 온도를 34.2∼50.2℃의 범위에서 변화시켰을 때 phantom의 위상차는 온도 변화에 대해 선형적으로 변하였다. 이 범위에서 측정된 온도의 해상도는 0.0457 radian/℃(0.0038 ppm/℃)였다. 인체 실험에서는 각 영상에서 hot pack과 가까운 위치의 평균 위상차가 hot pack과 먼 위치의 평균 위상차보다 작은 값을 나타냈다 이를 통해 같은 영상 단면에서도 열원(heat source)과의 거리에 따라서 온도 변화가 다르게 나타나는 것을 관찰할 수 있었다. 본 연구를 통해 PRF방법을 이용하여 MRI에서도 비침습적으로 인체 내부의 열전달과정을 관측하였고 이로서 온열치료 시 MRI가 임상적 이용 가능성이 있음을 확인하였다. The purpose of this study is to observe the heat transfer process in in-vivo human muscle based on Proton Resonance Frequency(PRF) method in Magnetic Resonance Imaging(MRI). MRI was obtained to measure the temperature variation according to the heat transfer in phantom and in-vivo human calf muscle. A phantom(2% agarose gel) was used in this experiment. MR temperature measurement was compared with the direct temperature measurement using a T-type thermocouple. After heating agarose gel to more than 5$0^{\circ}C$ in boiling hot water, raw data were acquired every 3 minutes during one hour cooling period for a phantom case. For human study heat was forced to deliver into volunteer's calf muscle using hot pack. Reference data were once acquired before a hot pack emits heat and raw data were acquired every 2 minutes during 30minutes. Acquired raw data were reconstructed to phase-difference images with reference image to observe the temperature change. Phase-difference of the phantom was linearly proportional to the temperature change in the range of 34.2$^{\circ}C$ and 50.2$^{\circ}C$. Temperature resolution was 0.0457 radian /$^{\circ}C$(0.0038 ppm/$^{\circ}C$) in phantom case. In vivo-case, mean phase-difference in near region from the hot pack is smaller than that in far region. Different temperature distribution was observed in proportion to a distance from heat source.