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

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 estimat...

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Main Authors:	Raafat, Safanah M., Akmeliawati, Rini, Abdulljabaar, Ismael
Format:	Article
Language:	English
Published:	Scientific Research Publishing Inc. 2012
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf

id	iium-27843
recordtype	eprints
spelling	iium-278432013-02-13T23:46:23Z http://irep.iium.edu.my/27843/ Robust H∞ controller for high precision positioning system, design, analysis, and implementation Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael TJ212 Control engineering 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. Scientific Research Publishing Inc. 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf 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) http://dx.doi.org/10.4236/ica.2012.33030 10.4236/ica.2012.33030
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael Robust H∞ controller for high precision positioning system, design, analysis, and implementation
description	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.
format	Article
author	Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael
author_facet	Raafat, Safanah M. Akmeliawati, Rini Abdulljabaar, Ismael
author_sort	Raafat, Safanah M.
title	Robust H∞ controller for high precision positioning system, design, analysis, and implementation
title_short	Robust H∞ controller for high precision positioning system, design, analysis, and implementation
title_full	Robust H∞ controller for high precision positioning system, design, analysis, and implementation
title_fullStr	Robust H∞ controller for high precision positioning system, design, analysis, and implementation
title_full_unstemmed	Robust H∞ controller for high precision positioning system, design, analysis, and implementation
title_sort	robust h∞ controller for high precision positioning system, design, analysis, and implementation
publisher	Scientific Research Publishing Inc.
publishDate	2012
url	http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/ http://irep.iium.edu.my/27843/1/ICA20120300008_48886087.pdf
first_indexed	2023-09-18T20:41:15Z
last_indexed	2023-09-18T20:41:15Z
_version_	1777409380376903680

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

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