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A Dual-Loop Robust Control Scheme With Performance Separation: Theory and Experimental Validation.
- Source :
-
IEEE Transactions on Industrial Electronics . Dec2022, Vol. 69 Issue 12, p13483-13493. 11p. - Publication Year :
- 2022
-
Abstract
- A dual-loop robust control scheme and its property of performance separation are presented in this article. The dual-loop control scheme consists of two degrees of freedom for nominal and robust performances, with the nominal controller being any stabilizing controller in the observer-based state-feedback form and robust controller being a standard $H_{\infty }$ controller. When there is model error and/or disturbance, the robust controller is activated to compensate the nominal controller; otherwise, the dual-loop control returns to a single-loop nominal controller. We also show that the nominal and robust performances of the dual-loop control are independent of one another. As a result, the nominal and robust controllers can be designed separately offline, and then, online coordinated in the dual-loop control. Furthermore, the state-space realization and controller implementation are also provided. Finally, a two-wheeled robot with varying slip effect is considered as an illustrative example. Both simulation and experimental results show that the dual-loop control outperforms the classical robust control methods. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ROBUST control
*PERFORMANCE theory
*DEGREES of freedom
*LINEAR matrix inequalities
Subjects
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 69
- Issue :
- 12
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 157958213
- Full Text :
- https://doi.org/10.1109/TIE.2022.3140518