Robust control for uncertain nonlinear feedback system using operator-based right coprime factorization

Bu, Ni; Chen, Wei; Jin, Longguo; Zhao, Yandong

doi:10.1109/jas.2017.7510895

Cited by 15 publications

(11 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…From the above analysis, we can see that there is a differential function in operatorbased controller (18). However, by using our isomorphism scheme, it is avoided in (24).…”

Section: Control System Design Based On Operator Theory and Isomorphi...mentioning

confidence: 91%

“…In [13], Zakai and Kushner-Stratonovich equations of the nonlinear filtering problem for a non-Gaussian signal-observation system are considered. Operator theory is a kind of nonlinear control theory which has the characteristics of nonlinear and uncertain unstable elements [14][15][16][17][18][19][20]. In addition, robust stability analysis can be performed only in a time domain without conversion to a frequency domain.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear Control System Design of an Underactuated Robot Based on Operator Theory and Isomorphism Scheme

Deng

Kubota

2021

Axioms

View full text Add to dashboard Cite

The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully actuated robot, it has many advantages, such as energy, material, and space saving. Therefore, it has high research value in both control theory and practical applications. Swing-up is a mechanism with two links, which mimics a gymnast performing a horizontal bar movement. Over the past few decades, many sufficiently robust control techniques have been developed for a fully actuated robot but almost none of them can be directly applicable to an underactuated robot system. The reason is that such control techniques require certain assumptions that are valid only for fully actuated robot systems but not for underactuated ones. In this paper, a control system design method for underactuated robots based on operator theory and an isomorphism scheme is first proposed. Bezout identity is designed using isomorphism. The effectiveness of the design method is confirmed by simulation. The simulation results show that the performances, such as robust stability and response time, of an underactuated robot control system are improved.

show abstract

“…From the above analysis, we can see that there is a differential function in operatorbased controller (18). However, by using our isomorphism scheme, it is avoided in (24).…”

Section: Control System Design Based On Operator Theory and Isomorphi...mentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

Nonlinear Control System Design of an Underactuated Robot Based on Operator Theory and Isomorphism Scheme

Deng

Kubota

2021

Axioms

View full text Add to dashboard Cite

show abstract

“…Moreover, another fundamental problem on RRCF is solved by using isomorphism idea 18,19 . Further, the quantitative design scheme is proposed in Reference 20 as well as the robust schemes 21,22 . Combining with the passivity of robust control property, the RRCF for the UNFS is designed in Reference 23, wherein the robustness and the passivity are, respectively, guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization

Liu

2021

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

As a research of human arm activities, the research of soft actuator is one of the important topics in the field of robotics. This article is concerned with the robust passive tracking control for an uncertain soft actuator by robust right coprime factorization (RRCF). First, applying the recursive least squares identification algorithm, the identification of the actuator modeling is studied by which the parameter of radius is estimated by using the experimental data. Second, the passivity of the soft actuator with inflatable rubber tube is discussed; meanwhile, the robustness of the soft actuator is ensured by the designed robust controllers. Third, by combining the RRCF and integral sliding mode control methods, the tracking performance is improved, for the soft actuator with time‐varying radius. Finally, the proposed methods are confirmed by the simulation with experimental data.

show abstract

“…There are several control methods such as sliding mode control [6] and adaptive control [7,8], but in this paper, the control system is designed based on operator theory as in the previous study. Operator theory [9][10][11][12][13][14][15][16][17] restricts the space of input signals and the output space, so it can be applied not only to linear control systems but also to nonlinear control systems. There are three advantages of using operator theory: first, there is no need to use transfer functions; second, robust stability analysis can be performed even when nonlinear elements are included; and third, it can be extended to multiple input-output systems.…”

Section: Introductionmentioning

confidence: 99%

Operator-Based Nonlinear Control of Calorimetric System Actuated by Peltier Device

Chikaraishi

Deng

2021

Machines

View full text Add to dashboard Cite

Recently, the development of SiC and GaN high-performance semiconductor devices has led to higher efficiency in power conversion equipment. In order to perform thermal design of power conversion equipment and evaluation of the equipment, it is necessary to measure the power loss of the equipment with high accuracy. In a previous study, a system to measure the power loss from the amount of heat emitted from power conversion devices using a Peltier device was proposed. In this study, aiming to improve the measurement accuracy, the temperature dependence of the thermal conductivity of a Peltier device, which was treated as a constant value in the previous study, was considered. The control system considering the temperature dependence of the thermal conductivity was designed based on operator theory, which is a nonlinear control theory. The simulation and experimental results show that the measurement accuracy was improved when the power loss was 10 W and 15 W compared to the case without considering the temperature dependence. In addition, the measurement time was reduced by about 100 s by considering the temperature dependence. The effectiveness of the proposed system was shown when the power loss was 10 W and 15 W.

show abstract

Robust control for uncertain nonlinear feedback system using operator-based right coprime factorization

Cited by 15 publications

References 11 publications

Nonlinear Control System Design of an Underactuated Robot Based on Operator Theory and Isomorphism Scheme

Nonlinear Control System Design of an Underactuated Robot Based on Operator Theory and Isomorphism Scheme

Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization

Operator-Based Nonlinear Control of Calorimetric System Actuated by Peltier Device

Contact Info

Product

Resources

About