ISBN:
9789811974625
Language:
English
Pages:
1 Online-Ressource(XI, 161 p. 96 illus., 95 illus. in color.)
Edition:
1st ed. 2023.
Series Statement:
Studies in Systems, Decision and Control 453
Parallel Title:
Erscheint auch als
Parallel Title:
Erscheint auch als
Parallel Title:
Erscheint auch als
Keywords:
Control engineering.
;
Mechatronics.
;
Robotics.
;
Automation.
Abstract:
Introduction -- Mathematical Modelling of Real Physical System -- Control Oriented Linear Fractional Transformation -- Synthesis Based H∞ Control Theory -- Generalized Control Oriented LFT Modelling of a Coupled Uncertain MIMO System -- Control-Oriented LFT Modelling of a Two-DOF Spring- Mass-Dashpot Dynamic System -- Control Oriented LFT Modelling and H∞ Control of Twin Rotor MIMO System -- Control Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot -- Control Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot with Slip Dynamics.
Abstract:
This book covers a new paradigm of system modeling – the robust control-oriented linear fractional transformation (LFT) modeling. A dynamic system expressed in LFT modeling framework paves the way for the application of modern robust controller design technique like μ-synthesis method for controller design. This book covers the generalized robust control-oriented LFT modeling representation of the MIMO system depending upon the uncertainty structure, system dynamics, and the dimensions of the input–output. The modeling framework results into a compact and manageable representation of uncertainty modeling in the form of feedback-like structure that is suitable for design and implementation of the robust control technique like μ-synthesis-based H∞ control theory. This book also describes the application of the proposed methodology in a variety of advanced mechatronic systems like the Twin Rotor MIMO system, wheeled mobile robot, and an industrial robot arm.
DOI:
10.1007/978-981-19-7462-5
