An improvement of QFT plant template generation for systems with affinely dependent parametric uncertainties

Yang, Sharon S.

doi:10.1016/j.jfranklin.2009.04.002

Cited by 7 publications

(6 citation statements)

References 22 publications

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“…The new bound computation method is compatible with the approaches to manipulate plant templates other than the parameter grid one. Consider, for example, the interval math, the affine plant representation, or methods to compute the outer border of the template. () Those methods could improve the accuracy of the discrete set

B_{o} false(normalω false)

and reduce the burden of computing

\partial B_{o} false(normalω false)

.…”

Section: New Qft Stability Boundsmentioning

confidence: 99%

QFT bounds for robust stability specifications defined on the open‐loop function

Rico-Azagra

Gil-Martínez

Rico

et al. 2017

Intl J Robust & Nonlinear

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Summary In the framework of quantitative feedback theory, this paper develops a new method to compute robust stability bounds. This is of special interest when stability is defined directly on the open‐loop function. Thus, ignorance of the plant gain and phase shift can be specifically and independently considered. Furthermore, upper and lower stability margins for both gain and phase can be chosen. However, classical quantitative feedback theory stability specifications are defined as constraining the peak magnitude of closed‐loop functions, which lack the said flexibility. Once the upper tolerance has been defined, all stability margins are determined. Moreover, confining the most restrictive stability margin may result in other excessive margins. However, the stability bounds of the new approach guard just the required distance from the open‐loop frequency response to the critical point. This allows maximization of the available feedback in the functional bandwidth and minimization of the cost of feedback beyond the crossover frequency, provided that the open‐loop frequency response is shaped to closely follow the stability bounds. It should be noted that the new bound computation algorithm performs few and simple arithmetic operations. This makes it far more efficient than traditional methods. The flight altitude control of an unmanned aerial vehicle is proposed as a practical example to show the new method's potential benefits.

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B_{o} false(normalω false)

and reduce the burden of computing

\partial B_{o} false(normalω false)

.…”

Section: New Qft Stability Boundsmentioning

confidence: 99%

QFT bounds for robust stability specifications defined on the open‐loop function

Rico-Azagra

Gil-Martínez

Rico

et al. 2017

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…This approach has allowed handling of the non-polynomial terms in the transfer function, such as exponential factors. A novel template generation algorithm for systems with affinely dependent parameters is presented in a recent work in which the principal points of the edges of the parameter box are defined (Yang, 2009). It is shown in some sufficiency theorems that considering only the principal points in forming the template boundaries results in a significant efficiency in computations.…”

Section: Introductionmentioning

confidence: 99%

An edge determination algorithm for exact computation of the frequency response of linear interval systems

Dindiş

Karamancioğlu

2016

Transactions of the Institute of Measurement and Control

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A novel algorithm, called the edge determination algorithm, for exact computation of the frequency response of a linear interval system is proposed. The algorithm formulates candidate curves for the frequency response boundaries as cubic Bezier curves. The edge determination algorithm operates on the cubic Bezier control points of these curves to obtain those, or their parts, that are on the frequency response boundaries. It presents the frequency response boundaries as an array whose entries are the cubic Bezier control points of the curves on the boundaries. Examples for two different cases are presented to illustrate the mechanics and validity of the algorithm.

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“…In this paper, QFT as a proper robust control method is applied to a quadrotor which will expose many advantages comparing to other relevant techniques . QFT design procedure is not only based on magnitude of transfer function in frequency domain, but also takes into account, the phase information .…”

Section: Introductionmentioning

confidence: 99%

“…The use of these equations requires several tests to identify each parameter. These tests were accomplished by De Lellis [10] based on magnitude of transfer function in frequency domain, but also takes into account, the phase information [17][18][19][20][21][22][23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Full dynamics and control of a quadrotor using quantitative feedback theory

Gharib

Moavenian

2015

Int J Numerical Modelling

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Summary Mathematical modeling and simulation of unmanned aerial vehicles, especially, quadrotor modeling are not a simple work because of their complex structure, nonlinear dynamics and under‐actuated features. This paper presents the development of a general parametric model of a quadrotor with complete dynamic. First, a new robust PID control strategy based on QFT as a robust controller design method is introduced and designed for a multivariable nonlinear quadrotor. Then, the robustness of the control strategy is verified by simulations of the linear and nonlinear cases in the presence of uncertainties. The results demonstrate that the proposed PID robust controller can guarantee system stabilization, as well as roll, pitch and yaw tracking, while the disturbance rejection of quadrotor is achieved properly. Copyright © 2015 John Wiley & Sons, Ltd.

show abstract

An improvement of QFT plant template generation for systems with affinely dependent parametric uncertainties

Cited by 7 publications

References 22 publications

QFT bounds for robust stability specifications defined on the open‐loop function

QFT bounds for robust stability specifications defined on the open‐loop function

An edge determination algorithm for exact computation of the frequency response of linear interval systems

Full dynamics and control of a quadrotor using quantitative feedback theory

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