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Robust control design to the Furuta system under time delay measurement feedback and exogenous-based perturbation
dc.contributor.author | Pujol Vázquez, Gisela |
dc.contributor.author | Mobayen, Saleh |
dc.contributor.author | Acho Zuppa, Leonardo |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtiques |
dc.date.accessioned | 2021-01-22T11:00:28Z |
dc.date.available | 2021-01-22T11:00:28Z |
dc.date.issued | 2020-12 |
dc.identifier.citation | Pujol-Vazquez, G.; Mobayen, S.; Acho, L. Robust control design to the Furuta system under time delay measurement feedback and exogenous-based perturbation. "Mathematics (Basel)", Desembre 2020, vol. 8, núm. 12, p. 2131-1-2131-15. |
dc.identifier.issn | 2227-7390 |
dc.identifier.uri | http://hdl.handle.net/2117/335811 |
dc.description.abstract | When dealing with real control experimentation, the designer has to take into account several uncertainties, such as: time variation of the system parameters, exogenous perturbation and the presence of time delay in the feedback line. In the later case, this time delay behaviour may be random, or chaotic. Hence, the control block has to be robust. In this work, a robust delay-dependent controller based on H8 theory is presented by employing the linear matrix inequalities techniques to design an efficient output feedback control. This approach is carefully tuned to face with random time-varying measurement feedback and applied to the Furuta pendulum subject to an exogenous ground perturbation. Therefore, a recent experimental platform is described. Here, the ground perturbation is realised using an Hexapod robotic system. According to experimental data, the proposed control approach is robust and the control objective is completely satisfied. |
dc.language.iso | eng |
dc.publisher | Multidisciplinary Digital Publishing Institute (MDPI) |
dc.rights | Attribution 4.0 International |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject | Àrees temàtiques de la UPC::Matemàtiques i estadística::Anàlisi numèrica |
dc.subject.lcsh | Nonlinear systems |
dc.subject.lcsh | Automatic control |
dc.subject.other | Random time delay |
dc.subject.other | Exogenous disturbance |
dc.subject.other | Furuta pendulum |
dc.subject.other | Nonlinear systems |
dc.subject.other | LMI-robust controller |
dc.title | Robust control design to the Furuta system under time delay measurement feedback and exogenous-based perturbation |
dc.title.alternative | Robust control design to the Furuta system under time delay measurement feedback and exogenous-based perturbation |
dc.type | Article |
dc.subject.lemac | Sistemes no lineals |
dc.subject.lemac | Control automàtic |
dc.contributor.group | Universitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions |
dc.identifier.doi | 10.3390/math8122131 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | https://www.mdpi.com/2227-7390/8/12/2131 |
dc.rights.access | Open Access |
local.identifier.drac | 29904080 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/1PE/DPI2016-77407-P |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2015-64170-R/ES/DISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS/ |
local.citation.author | Pujol-Vazquez, G.; Mobayen, S.; Acho, L. |
local.citation.publicationName | Mathematics (Basel) |
local.citation.volume | 8 |
local.citation.number | 12 |
local.citation.startingPage | 2131-1 |
local.citation.endingPage | 2131-15 |
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