Automatic weight selection for controller synthesis

Donha, Décio Crisol; Katebi, M.R.

doi:10.1080/00207720701500559

Cited by 15 publications

(5 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…8 give very general guidelines for selection of the weights. Donha and Katebi 9 and Alfaro-Cid et al. 10 used intelligent optimization methods (i.e.…”

Section: Uncertainty Modelmentioning

confidence: 99%

Kharitonov’s theorem: A good starting point for robust control

Abut

2019

The International Journal of Electrical Engineering & Educa

View full text Add to dashboard Cite

Advanced robust controller design methods such as: [Formula: see text], [Formula: see text] synthesis, or linear matrix inequality require advanced mathematics which makes these techniques difficult topics for final year projects. A robust controller (for plants with parametric uncertainty) can be designed with the aid of Kharitonov’s theorem, which has simpler mathematical machinery. This paper studies the robust control of DC–DC converters with the aid of Kharitonov’s theorem. It presents a tutorial exposition of robust controller design based on Kharitonov’s theorem. Kharitonov’s theorem provides a good starting point for BSc students who wish to continue their future studies in robust control.

show abstract

“…8 give very general guidelines for selection of the weights. Donha and Katebi 9 and Alfaro-Cid et al. 10 used intelligent optimization methods (i.e.…”

Section: Uncertainty Modelmentioning

confidence: 99%

Kharitonov’s theorem: A good starting point for robust control

Abut

2019

The International Journal of Electrical Engineering & Educa

View full text Add to dashboard Cite

show abstract

“…where this LFT interconnection is well-posed if (I À P 33 K) is invertible. As described in equations (11) and (12), the matrix F l (P, K) = M can be expressed by various combinations of (weighted) sensitivity functions defined in equations (8) and (9). In addition, the closed-loop system via upper LFT is given by the transfer function from w to z, that is…”

Section: ____ ____mentioning

confidence: 99%

“…10 Its main objective is to provide a control system that is more robust than what can be obtained with optimal control with Kalman filters; this scheme has been used for DP applications. 11,12 Various control methodologies have been demonstrated over the past two decades for DP of marine vessels. The literature review on DP methodologies is extensively given by Sorensen 13 and references therein.…”

Section: Introductionmentioning

confidence: 99%

Robust control synthesis for dynamic vessel positioning

You

Lim

Kim

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part M:

View full text Add to dashboard Cite

This article considers key theoretical and practical issues that arise in the robust control synthesis for dynamic positioning. A dynamically positioned vessel maintains its position (fixed location or predetermined track) by means of active thrusters and propellers. The concise kinematics and vessel dynamics are presented using three degrees of freedom model for describing the horizontal motions. Then, the mixed H N and m-synthesis framework has been employed to deal with perturbed model under external disturbances as well as measurement noises. To avoid excessive control energy for dynamic positioning system, the high frequency waves have been filtered using simple weighting functions. Using optimal Hankel-norm model approximation, the resulting full-order controller has been significantly reduced to make it easy to implement the practical works. Next, the simulation results in both frequency and time domains are presented to demonstrate the effectiveness of the robust control algorithms using the appropriate weighting functions. Finally, it is found that the proposed dynamic positioning system provides good maneuverability and robustness over a wide range of operating conditions, even under parametric variations and sea disturbances with sensor noises.

show abstract

“…See for example Sørensen (2005Sørensen ( , 2011b and the references therein for a short presentation of the subject and its historical evolution. Different sources of uncertainty in the DP problem led to the application of robust control techniques to DP, see Katebi et al (1997Katebi et al ( , 2001; Donha and Katebi (2007); Donha et al (1997); Martin et al (2000); Hassani et al (2012bHassani et al ( ,c, 2013c. The H ∞ and mixed-µ are model-based techniques and design of a DP controller based on these methodologies requires a linear model of the plant (computed by linearization of the plant about an operating point).…”

Section: Introductionmentioning

confidence: 99%

Robust Dynamic Positioning of offshore vessels using mixed-μ synthesis modeling, design, and practice

Hassani

Sørensen

Pascoal³

et al. 2017

Ocean Engineering

View full text Add to dashboard Cite

This paper describes a procedure to design robust controllers for Dynamic Positioning (DP) of ships and offshore rigs subjected to the influence of sea waves, currents, and wind loads using H ∞ and mixed-µ techniques. The proposed method will increase operational weather window and robustness of the DP vessel and associated DP system. To this effect, practical assumptions are exploited in order to obtain a linear design model with parametric uncertainties describing the dynamics of the vessel. Appropriate frequency weighting functions are selected to capture the required performance specifications at the controller design phase. The proposed model and weighting functions are then used to design robust controllers. The problem of wave filtering is also addressed during the process of modeling and controller design. The key contribution of the paper is threefold: i) it affords system designers a new method to efficiently obtain linearized design models that fit naturally in the framework of H ∞ control theory, and ii) it describes, in a systematic manner, the different steps involved in the controller design process for DP systems operating under different sea conditions, and iii) it contains the details of simulations and results of experimental model tests in a towing tank equipped with a hydraulic wave maker.

show abstract

Automatic weight selection for controller synthesis

Cited by 15 publications

References 14 publications

Kharitonov’s theorem: A good starting point for robust control

Kharitonov’s theorem: A good starting point for robust control

Robust control synthesis for dynamic vessel positioning

Robust Dynamic Positioning of offshore vessels using mixed-μ synthesis modeling, design, and practice

Contact Info

Product

Resources

About