Robust <i>H</i><sub>∞</sub>Controller for High Precision Positioning System, Design, Analysis, and Implementation

• 作者: Ismael Abdulljabaar Rini Akmeliawati Safanah M. Raafat
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: H∞ Mixed Sensitivity Integral-H∞ Control TWO-DEGREE-OF-FREEDOM 2 DOF H∞ CONTROLLER Uncertainties v-Gap Metric
• 年，卷（期）: 2012,（3）
• 页码范围: 262-273
• 页数: 12页
• 分类号: TP2

摘要

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 metric 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 performance of the servo positioning system.