Robust H∞ controller for high precision positioning system, design, analysis, and implementation

Raafat, Safanah M. and Akmeliawati, Rini and Abdulljabaar, Ismael (2012) Robust H∞ controller for high precision positioning system, design, analysis, and implementation. Intelligent Control and Automation, 3 (3). pp. 262-273. ISSN 2153-0653 (Print) 2153-0661 (Online)

PDF (Robust H∞ controller for high precision positioning system, design, analysis, and implementation) - Published Version Restricted to Repository staff only Download (548kB) | Request a copy

Abstract

In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap met- ric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking per- formance of the servo positioning system.

Item Type:	Article (Journal)
Additional Information:	5806/27843
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	27 Dec 2012 11:25
Last Modified:	14 Feb 2013 07:46
URI:	http://irep.iium.edu.my/id/eprint/27843

Actions (login required)

View Item