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Identification and robust controller design for an electromechanical actuator with time delay

Identification and robust controller design for an electromechanical actuator with time delay This paper addresses the experimental identification, structured and unstructured uncertainty modelling, and robust control design of a real electromechanical actuator (EMA) harmonic drive system with time delay. Two approaches were used in the design of the robust controllers; the first is a novel method based on the complex Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system with time delay, but also maintains the pre-specified margins and bandwidth constraints. The H∞ theory-based approach was applied in the second controller design. Furthermore, the discrepancies between the linear model and the actual system, due to non-linearities, were estimated as a multiplicative uncertainty. Experimental results prove the superiority of the performance of the designed robust EMA with an H∞ controller over the original EMA and robust EMA with Kharitonov’s controller; this preference pertains to its robustness to parametric uncertainties and high performance. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Transactions of the Institute of Measurement and Control SAGE

Identification and robust controller design for an electromechanical actuator with time delay

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References (27)

Publisher
SAGE
Copyright
© The Author(s) 2014
ISSN
0142-3312
eISSN
1477-0369
DOI
10.1177/0142331214556799
Publisher site
See Article on Publisher Site

Abstract

This paper addresses the experimental identification, structured and unstructured uncertainty modelling, and robust control design of a real electromechanical actuator (EMA) harmonic drive system with time delay. Two approaches were used in the design of the robust controllers; the first is a novel method based on the complex Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system with time delay, but also maintains the pre-specified margins and bandwidth constraints. The H∞ theory-based approach was applied in the second controller design. Furthermore, the discrepancies between the linear model and the actual system, due to non-linearities, were estimated as a multiplicative uncertainty. Experimental results prove the superiority of the performance of the designed robust EMA with an H∞ controller over the original EMA and robust EMA with Kharitonov’s controller; this preference pertains to its robustness to parametric uncertainties and high performance.

Journal

Transactions of the Institute of Measurement and ControlSAGE

Published: Oct 1, 2015

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