TY - GEN
T1 - A robust mixed H2/H∞ tracking control for 3-DOF permanent magnet spherical actuator
AU - Cai, Shaoxiong
AU - Liu, Jingmeng
AU - Xu, Dong
AU - Chen, Weihai
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This paper addresses a robust mixed H2/H∞ control for 3-DOF Permanent Magnet (PM) Spherical Actuator in order to improve its trajectory tracking performance. The dynamic model of the PM spherical actuator is a multi-variable nonlinear system contains uncertainties such as model errors and disturbances inevitably, which will gravely influence the performance of the control system. Therefore, a mixed H2/H∞ control algorithm which consists of H2 and H∞ control theory is design to compensate for these uncertainties. The robust mixed H2/H∞ control algorithm aim at attenuate the effects of the model uncertainties and external perturbations. To illustrate the effectiveness of the proposed control algorithm, both simulations and experiments are conducted. The results have shown that the proposed control algorithm has better trajectory tracking performance and strong robustness to uncertainties.
AB - This paper addresses a robust mixed H2/H∞ control for 3-DOF Permanent Magnet (PM) Spherical Actuator in order to improve its trajectory tracking performance. The dynamic model of the PM spherical actuator is a multi-variable nonlinear system contains uncertainties such as model errors and disturbances inevitably, which will gravely influence the performance of the control system. Therefore, a mixed H2/H∞ control algorithm which consists of H2 and H∞ control theory is design to compensate for these uncertainties. The robust mixed H2/H∞ control algorithm aim at attenuate the effects of the model uncertainties and external perturbations. To illustrate the effectiveness of the proposed control algorithm, both simulations and experiments are conducted. The results have shown that the proposed control algorithm has better trajectory tracking performance and strong robustness to uncertainties.
UR - https://www.scopus.com/pages/publications/85047448771
U2 - 10.1109/ICIEA.2017.8282920
DO - 10.1109/ICIEA.2017.8282920
M3 - 会议稿件
AN - SCOPUS:85047448771
T3 - Proceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
SP - 636
EP - 641
BT - Proceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
Y2 - 18 June 2017 through 20 June 2017
ER -