Robust Interval Luenberger Observer-Based State Feedback Control: Application to a Multi-DOF Micropositioner
| Autor: | Philippe Lutz, Abdenbi Mohand-Ousaid, Mounir Hammouche, Micky Rakotondrabe |
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| Přispěvatelé: | Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS) |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Set inversion Computer science Computation [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] 020208 electrical & electronic engineering 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Interval arithmetic 020901 industrial engineering & automation Control and Systems Engineering Robustness (computer science) Control theory 0202 electrical engineering electronic engineering information engineering Symmetric matrix State observer Electrical and Electronic Engineering Robust control Eigenvalues and eigenvectors |
| Zdroj: | IEEE Transactions on Control Systems Technology IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 27 (6), pp.2679-2679. ⟨10.1109/TCST.2018.2865767⟩ |
| ISSN: | 2374-0159 1063-6536 |
| Popis: | International audience; Controlling multi-DOF (Degree of Freedom) micropositioning systems always represents great challenge becauseof the high sensitivity to the environment at this scale and the cross-coupling effects present between the different axes. A robust Luenberger observer-based state feedback design using interval analysis and regional pole assignment technique are introduced to control such systems. This robust control design keeps the same structure of the classical state-feedback with the usual Luenberger observer. However, the synthesises of the observer and the feedback controller are performed by means of interval techniques to find the set of gains that are robustagainst system uncertainties and that satisfy some predefined performances. For this matter, an algorithm based on Set Inversion Via Interval Analysis (SIVIA) combined with interval eigenvalues computation is proposed to find these robust gains. The control approach is validated in simulation and then tested experimentally to control a multi-DOF positioning structure. |
| Databáze: | OpenAIRE |
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