NDLI: Parametric and Nonparametric Identification and Robust Control of a Rotational/Translational Actuator

Content Provider	IEEE Xplore Digital Library
Author	Tavakoli, M. Taghirad, H.D. Abrishamchian, M.
Copyright Year	2003
Description	Author affiliation: Department of Electrical and Computer Engineering, University of Western Ontario, Canada. E-mail: tavakoli@uwo.ca (Tavakoli, M.)
Abstract	RTAC benchmark problem considers a nonlinear fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational proof mass actuator for stabilizing translational motion. In order to implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of system parameters is discussed and practically applied to the benchmark problem. Next, in order to design an H∞controller, the nonlinear system is modelled as a perturbed linear system using an effective identification scheme. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block. Finally, an effective mixed-sensitivity problem is developed for the system to satisfy all performance requirements as well as robust stability despite actuator saturation.
Sponsorship	Lee Found. IEEE Montreal Sect. Candian Soc. Mechanical Eng
Starting Page	765
Ending Page	769
File Size	873283
Page Count	5
File Format	PDF
ISBN	078037777X
DOI	10.1109/ICCA.2003.1595126
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-12
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Actuators Oscillators Parameter estimation Control system synthesis Nonlinear control systems Nonlinear systems Linear systems Uncertainty Robust stability
Content Type	Text
Resource Type	Article

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