A new approach is presented to design robust controllers for an experimental flexible beam with noncolocated sensors-actuator. The objective is to position the free end of the beam in the specified time under tight bounds on the trajectory of the tip and control action. We derive a transfer function nominal model for the beam and a quantitative description of model uncertainties based on experimentally obtained frequency response data. Robust controllers are designed by applying the recently developed Constrained H∞ control approach (Sideris and Rotstein, 1993, 1994), in which time-domain constraints are treated directly without translation to the frequency-domain. Constrained H∞ controllers are compared with standard H∞ and μ-synthesis designs in terms of both simulation and experimental results and are found to be superior in the considered case of stringent time-domain specifications.
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June 1997
Technical Papers
Constrained H∞ Control of an Experimental Flexible Link
A. Tchernychev,
A. Tchernychev
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
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A. Sideris,
A. Sideris
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
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Jie Yu
Jie Yu
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
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A. Tchernychev
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
A. Sideris
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
Jie Yu
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697-3975
J. Dyn. Sys., Meas., Control. Jun 1997, 119(2): 206-211 (6 pages)
Published Online: June 1, 1997
Article history
Received:
March 10, 1995
Online:
December 3, 2007
Citation
Tchernychev, A., Sideris, A., and Yu, J. (June 1, 1997). "Constrained H∞ Control of an Experimental Flexible Link." ASME. J. Dyn. Sys., Meas., Control. June 1997; 119(2): 206–211. https://doi.org/10.1115/1.2801234
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