Zobrazeno 1 - 10
of 32
pro vyhledávání: '"Anders Helmersson"'
Publikováno v:
IFAC-PapersOnLine. 53:17374-17379
We propose a sequence of pedagogical steps for introducing the Youla-Kucera parametrization, starting from the internal model principle, and introducing the control structures of disturbance observer and internal model control along the way. We provi
Publikováno v:
CDC
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we propose a L
Publikováno v:
IEEE Transactions on Automatic Control. 57:2901-2905
This technical note proposes a method for low order H-infinity synthesis where the constraint on the order of the controller is formulated as a rational equation. The resulting nonconvex optimization problem is then solved by applying a partially aug
Autor:
Anders Helmersson
Publikováno v:
IEEE Transactions on Automatic Control. 57:2062-2067
The Kronecker canonical form (KCF) can be employed when solving H∞ synthesis problem. The KCF structure reveals variables that can be eliminated in the semidefinite program that defines the controller. The structure can also be used to remove state
Autor:
Anders Helmersson
Publikováno v:
IEEE Transactions on Automatic Control. 54:1450-1462
A new approach for computing upper error bounds for reduced-order models of linear time-varying systems is presented. It is based on a transformation technique of the Hankel singular values using positive-real, odd incremented functions. By applying
Publikováno v:
Automatica. 40:1629-1635
In this paper we introduce a new parametrization for state-space systems: data driven local coordinates (DDLC). The parametrization is obtained by restricting the full state-space parametrization, where all matrix entries are considered to be free, t
Control of a flexible joint of an industrial manipulator using H∞ design methods is presented. The considered design methods are i) mixed-H∞ design, and ii) H∞ loop shaping design. Two different controller configurations are examined: one uses
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https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0402913e0e3992a743794c4c382e76cd
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-104785
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-104785
One of the main tasks for an industrial robot is to move the end-effector in a predefined path with a specified velocity and acceleration. Different applications have different requirements of the performance. For some applications it is essential th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c4cf7545eb7dd519fd4a7011d5600a18
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-104789
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-104789
Autor:
Anders Helmersson
Publikováno v:
IFAC Proceedings Volumes. 32:3195-3200
A parameter dependent Lyapunov function is introduced for stability analysis of linear systems with slowly varying parameters. The Lyapunov function is a quadratic form using a linear fractional transformation (LFT) of the parameters. The parameters
Autor:
Anders Helmersson
Publikováno v:
IFAC Proceedings Volumes. 32:3361-3366
Integral quadratic constraints (IQCs) can be used for proving stability of systems with uncertainties and nonlinearities. Similarly, IQCs can also be used for controller synthesis. Necessary and sufficient conditions for the existence of such a contr