Recent Advances in Robust Control

Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics

A Unified Approach to the Very Fast Torque Control Methods for DC and AC Machines

(c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.[EN] The general strategy to get a very fast torque control in a dc or ac machine is based on keeping the pulsational electromotive forces (EMFs) of all of its phases as small as possible during the transient states and achieving the torque changes by exclusively enhancing the rotational EMFs. All the resources available have to be oriented in this direction. This very simple but profound physical idea, when applied to dc or ac machines, allows the different control methods for these machines that have been developed to date and regarded as the best from a dynamic point of view to be deduced in a unified, systematic, and straightforward way.Serrano Iribarnegaray, L.; Martinez-Roman, J. (2007). A Unified Approach to the Very Fast Torque Control Methods for DC and AC Machines. IEEE Transactions on Industrial Electronics. 54(4):2047-2056. doi:10.1109/TIE.2007.895148S2047205654

A low power engine test stand

The engine test stand is a set of systems needed to identify, map, or optimize an engine. The complex task of the integration of those system requires many areas of expertise. This work tries to tackle that, aiming on three main points. One is provide a list of the set of transducers and measurements needed to test an engine. Second is to provide basic knowledge of the techniques needed to put to practice to achieve a data acquisition. And third the development of a dynamometer controller based on renewable energies, to be more precise, on wind energy harvesting. To conclude this work a transient analysis of the controller is listed.O banco de ensaios de motores alternativos é constituído por um conjunto de sistemas necessários para efetuar identificação, mapeamento ou otimização de um dado motor. A integração dos vários sistemas requer um vasto conjunto disciplinas. Este trabalho, tenta resolver isto, apontando para três pontos importantes do banco de ensaios. Um é listar os vários sensores e medições necessárias para testar um motor. Segundo é prever o conhecimento básico das técnicas necessárias para por em prática um sistema de adquisição de dados. Terceiro é desenvolver um dinamómetro baseado em energias renováveis, mais precisamente, energia eólica. Para concluir este trabalho é efetuada ao controlador uma análise de transição

Adaptive Robust Backstepping Control of Permanent Magnet Synchronous Motor Chaotic System with Fully Unknown Parameters and External Disturbances

The chaotic behavior of permanent magnet synchronous motor is directly related to the parameters of chaotic system. The parameters of permanent magnet synchronous motor chaotic system are frequently unknown. Hence, chaotic control of permanent magnet synchronous motor with unknown parameters is of great significance. In order to make the subject more general and feasible, an adaptive robust backstepping control algorithm is proposed to address the issues of fully unknown parameters estimation and external disturbances inhibition on the basis of associating backstepping control with adaptive control. Firstly, the mathematical model of permanent magnet synchronous motor chaotic system with fully unknown parameters is constructed, and the external disturbances are introduced into the model. Secondly, an adaptive robust backstepping control technology is employed to design controller. In contrast with traditional backstepping control, the proposed controller is more concise in structure and avoids many restricted problems. The stability of the control approach is proved by Lyapunov stability theory. Finally, the effectiveness and correctness of the presented algorithm are verified through multiple simulation experiments, and the results show that the proposed scheme enables making permanent magnet synchronous motor operate away from chaotic state rapidly and ensures the tracking errors to converge to a small neighborhood within the origin rapidly under the full parameters uncertainties and external disturbances

State feedback control for a PM hub motor based on gray Wolf optimization algorithm

© 1986-2012 IEEE. This paper presents an optimal control strategy for a permanent-magnet synchronous hub motor (PMSHM) drive using the state feedback control method plus the gray wolf optimization (GWO) algorithm. First, the linearized PMSHM mathematical model is obtained by voltage feedforward compensation. Second, to acquire satisfactory dynamics of speed response and zero d-axis current, the discretized state-space model of the PMSHM is augmented with the integral of rotor speed error and integral of d-axis current error. Then, the GWO algorithm is employed to acquire the weighting matrices Q and R in linear quadratic regulator optimization process. Moreover, a penalty term is introduced to the fitness index to suppress overshoots effectively. Finally, comparisons among the GWO-based state feedback controller (SFC) with and without the penalty term, the conventional SFC, and the genetic algorithm enhanced proportional-integral controllers are conducted in both simulations and experiments. The comparison results show the superiority of the proposed SFC with the penalty term in fast response