A new methodology for parametric sensitivity based robust optimal control sysnthesys (PS-ROCS), is presented for robust optimal control synthesis using augmented plant dynamics with sensitivity co-system. Robustness of the control system to parametric uncertainties is ensured by minimizing the energy in the states where state vector incorporates states of the sensitivity co-system. The sensitivity dynamics is developed for the first-order parametric sensitivities from the system dynamics. This paper uses the Youla parameterization approach for controller synthesis. The robust optimal design methodology is demonstrated using a linearized model of double slider mechanism. For comparative study, two control designs obtained using the proposed methodology is compared with the H ∞-based design. It was observed that the new methodology presents a viable alternative for robust optimal control design. The attractiveness of the proposed approach lies in the fact that no uncertainty estimates are needed as parametric sensitivities are directly minimized.
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ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
October 17–19, 2012
Fort Lauderdale, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4531-8
PROCEEDINGS PAPER
Robust Optimal Control Design Using Sensitivity Dynamics and Youla Parameterization Available to Purchase
Punit J. Tulpule,
Punit J. Tulpule
Iowa State University, Ames, IA
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Atul G. Kelkar
Atul G. Kelkar
Iowa State University, Ames, IA
Search for other works by this author on:
Punit J. Tulpule
Iowa State University, Ames, IA
Atul G. Kelkar
Iowa State University, Ames, IA
Paper No:
DSCC2012-MOVIC2012-8741, pp. 143-151; 9 pages
Published Online:
September 17, 2013
Citation
Tulpule, PJ, & Kelkar, AG. "Robust Optimal Control Design Using Sensitivity Dynamics and Youla Parameterization." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 143-151. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8741
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