Robust <i>H</i><sub>∞</sub> Controller for High Precision Positioning System, Design, Analysis, and Implementation

Abstract

In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H ∞ robust controllers design. v-gap metric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the framework of the standard H ∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H ∞ and two-degree-of-freedom 2 DOF H ∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking performance of the servo positioning system.

Identification, uncertainty modeling and robust controller design for an electromechanical actuator

“…A conventional H ∞ controller was designed to improve the tracking and resolution of a servo positioning system in Raafat et al. 16 and to get faster and more accurate EMA system in Yoo et al. 17 One of the main drawbacks of H ∞ controller is that the resulting controller is very complex.…”

Design And Implementation Of Robust Control Laws

“…In contrast with the theoretical achievements, the practical implementation of robust control laws is still in its beginning. There is a few real life applications of high order robust control laws reported in the literature (see for instance (Bautista-Quintero and Pont 2008;Howlader et al 2013;Raafat et al 2012). The main obstacle of robust control laws implementation is the difficulties related to the development, testing and verification of the necessary real-time software which is highly dependent on the type of digital controller platform used.…”

RobustH∞feedback compensator design for an electromechanical actuator with time delay

“…PID controller designs for delay time free systems were presented by Rigatos and Siano (2011). An H ∞ theory-based controller was designed to improve the tracking and resolution of a servo positioning system by Raafat, Akmeliawati, and Abdulljabaar (2012). But, the H ∞ controller has well known drawbacks.…”