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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Main Authors: Hafeez, Y., Ali, S.S.A.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.20194 /
Published: Institute of Electrical and Electronics Engineers Inc. 2017
Online Access: 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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spelling 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/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description 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_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/
_version_ 1741196332820856832
score 11.62408

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