Discrete-time H∞ control of a class of underactuated electromechanical systems
This paper focuses on the design and performance of sampled-data robust control of a class of continuous-time underactuated electromechanical systems. The control law is designed on the philosophy based on stabilization of discrete-time equivalent model of a continuous-time system which can be broad...
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Institute of Electrical and Electronics Engineers Inc.
2017
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my.utp.eprints.201942018-04-22T14:45:11Z Discrete-time H∞ control of a class of underactuated electromechanical systems Hafeez, Y. Ali, S.S.A. This paper focuses on the design and performance of sampled-data robust control of a class of continuous-time underactuated electromechanical systems. The control law is designed on the philosophy based on stabilization of discrete-time equivalent model of a continuous-time system which can be broadly classified into sampled-data stabilization of a class of underactuated linear systems with a time-varying actuation characteristics. The system can be actuated by a short duration pulse in a fixed interval of time. The system is discretized for complete actuation cycle to get an equivalent discrete-time model of the continuous-time system. The equivalent model is developed by considering a complete actuation cycle as a single discrete step. The continuous-time system is fully actuated in this interval and unactuated otherwise. The state feedback control law is designed on the basis of fully actuated, time invariant exact discrete-time equivalent model of the continuous-time system. The simulations show that proposed controller achieved the desired orientation control. © 2016 IEEE. Institute of Electrical and Electronics Engineers Inc. 2017 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012033980&doi=10.1109%2fICIAS.2016.7824111&partnerID=40&md5=192e4181d503d00920274a0a99945ef7 Hafeez, Y. and Ali, S.S.A. (2017) Discrete-time H∞ control of a class of underactuated electromechanical systems. International Conference on Intelligent and Advanced Systems, ICIAS 2016 . http://eprints.utp.edu.my/20194/ |
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This paper focuses on the design and performance of sampled-data robust control of a class of continuous-time underactuated electromechanical systems. The control law is designed on the philosophy based on stabilization of discrete-time equivalent model of a continuous-time system which can be broadly classified into sampled-data stabilization of a class of underactuated linear systems with a time-varying actuation characteristics. The system can be actuated by a short duration pulse in a fixed interval of time. The system is discretized for complete actuation cycle to get an equivalent discrete-time model of the continuous-time system. The equivalent model is developed by considering a complete actuation cycle as a single discrete step. The continuous-time system is fully actuated in this interval and unactuated otherwise. The state feedback control law is designed on the basis of fully actuated, time invariant exact discrete-time equivalent model of the continuous-time system. The simulations show that proposed controller achieved the desired orientation control. © 2016 IEEE. |
| format |
Article |
| author |
Hafeez, Y. Ali, S.S.A. |
| spellingShingle |
Hafeez, Y. Ali, S.S.A. Discrete-time H∞ control of a class of underactuated electromechanical systems |
| author_facet |
Hafeez, Y. Ali, S.S.A. |
| author_sort |
Hafeez, Y. |
| title |
Discrete-time H∞ control of a class of underactuated electromechanical systems |
| title_short |
Discrete-time H∞ control of a class of underactuated electromechanical systems |
| title_full |
Discrete-time H∞ control of a class of underactuated electromechanical systems |
| title_fullStr |
Discrete-time H∞ control of a class of underactuated electromechanical systems |
| title_full_unstemmed |
Discrete-time H∞ control of a class of underactuated electromechanical systems |
| title_sort |
discrete-time h∞ control of a class of underactuated electromechanical systems |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2017 |
| url |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012033980&doi=10.1109%2fICIAS.2016.7824111&partnerID=40&md5=192e4181d503d00920274a0a99945ef7 http://eprints.utp.edu.my/20194/ |
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