Optimal $H_{\infty}$ Control for Linear Periodically Time-Varying Systems in Hard Disk Drives

Nie, Jianbin; Conway, Richard; Horowitz, Roberto

doi:10.1109/tmech.2011.2166161

Cited by 27 publications

(6 citation statements)

References 15 publications

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“…Then, by the coordinate transformation (26) and input change (25), the output feedback nonlinear system (23) can be transformed into the fifth-order linear system (24). This completes the proof.…”

Section: Normal Form Of the Dynamics Of The Underactuated Gyroscopementioning

confidence: 61%

“…The inherent linear and controllable properties of the differentially flat systems indicate that the systems can be stabilized by many existing methods, such as the PID approach [20], sliding mode [21], H ∞ control [22]- [24], and finite-time control [15], [25], etc. As shown by proposition 1, the underactuated gyroscope system illustrated in Fig.…”

Section: Remarkmentioning

confidence: 99%

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Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator

Zhang

2015

IEEE/ASME Trans. Mechatron.

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It has been shown that the underactuated MEMS gyroscopes provide inherent robustness against structural and environmental parameter variations. To further improve the performance of the systems, the electrical and mechanical coupling dynamics of the underactuated torsional gyroscopes with double oscillators actuated by a single electrostatic actuator is investigated in this paper. It is shown that the highly nonlinear coupling dynamics of the underactuated gyroscope systems can be transformed into the fifth-order linear systems even though the electrical uncertainties of the systems are considered. For the purpose of simplifying the structures of the underactuated torsional MEMS gyroscopes, an observer-based robust controller with considering structural uncertainties is presented on the basis of linear matrix inequalities (LMIs). The robust stability of the presented controller is also demonstrated by some numerical simulations on a three-degreeof-freedom underactuated MEMS gyroscope. It is shown that the LMI-based robust controller can accommodate both large initial errors in the system state and bounded uncertainties in the structural parameters of the system.

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Section: Normal Form Of the Dynamics Of The Underactuated Gyroscopementioning

confidence: 61%

Section: Remarkmentioning

confidence: 99%

Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator

Zhang

2015

IEEE/ASME Trans. Mechatron.

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“…Although 3D modeling software, such as SolidWorks can excellently complete mechanical modeling, it cannot realize algorithm verification. Currently, most people use programming languages such as C, C++, and Java combined with OpenInventor or OpenGL to write graphics simulation systems, but they are relatively complex to operate [8]. They also do not adequately support common issues such as cross-platform, distributed processing, code reuse, multilanguage support, and hardware abstraction [9].…”

Section: Introductionmentioning

confidence: 99%

The underwater obstacle avoidance method based on ROS

Zhang¹,

Lu²,

et al. 2023

J. Phys.: Conf. Ser.

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To achieve real-time obstacle avoidance for underwater robots, the artificial potential field method can be selected as the obstacle avoidance path planning algorithm. However, this method applies a large attractive force to the underwater robot when it is far from the target point, causing it to collide with obstacles. Additionally, when the underwater robot just enters the repulsion influence zone, the repulsion force that it experiences undergoes an abrupt change, resulting in a non-smooth obstacle avoidance path. Furthermore, developing the obstacle avoidance function based on software platforms such as MATLAB has a long algorithm verification cycle, and it is difficult to transfer the algorithm model to practical scenarios. Therefore, this paper proposes an underwater robot obstacle avoidance method based on ROS. Firstly, a dynamic adjustment factor is introduced into the potential field function of the artificial potential field method to redefine the obstacle influence zone, and an improved artificial potential field method is designed as the obstacle avoidance path planning algorithm for underwater robots. The experiment is conducted on the ROS simulation platform, and the results show that the improved algorithm can solve the two problems existing in the artificial potential field method. Secondly, nodes required for underwater robot obstacle avoidance are established based on the ROS operating system, and the improved artificial potential field method is integrated into the obstacle avoidance path planning node. Finally, the obstacle avoidance experiment of the Bluerov2 underwater robot is conducted in a pool, and the experimental results demonstrate that the proposed method can achieve real-time obstacle avoidance for underwater robots.

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“…Its anti-interference ability is obviously better than PID controller, but it depends on the precise model parameters. Quantitative feedback theory (Nam, 2001) and H ∞ control method (Nie et al, 2013) regard the active motion of the load bearing object as uncertainties to suppress surplus force. They can keep the control error within a certain range when the load bearing object moves slowly.…”

Section: Introductionmentioning

confidence: 99%

Compound control for electromagnetic linear load simulator

Meng

Liu

Duan

et al. 2023

Transactions of the Institute of Measurement and Control

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Electromagnetic linear load simulator (ELLS) is a device that simulates the load force on the load bearing object. This paper proposes a new compound control method based on the combination of neural network algorithm and feedforward compensation principle to improve force loading performance of ELLS. First, the mathematical model of the force loading system and the problem formulation is introduced. Then, radial basis function (RBF) neural network algorithm, single neuron proportional–integral–derivative (PID) control algorithm, and feedforward compensation principle are presented. Based on these control theories, a compound controller is designed and the block diagram of the proposed method for force loading system is presented. In order to verify the superiority of compound control, different control methods are compared in simulation and experiment under different operating conditions. It is clearly demonstrated that the proposed compound control method has better dynamic and static characteristics, and meet the established control requirements.

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Optimal $H_{\infty}$ Control for Linear Periodically Time-Varying Systems in Hard Disk Drives

Cited by 27 publications

References 15 publications

Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator

Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator

The underwater obstacle avoidance method based on ROS

Compound control for electromagnetic linear load simulator

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