Robust Control Design to the Furuta System under Time Delay Measurement Feedback and Exogenous-Based Perturbation

Gisela Pujol-Vazquez,Saleh Mobayen,Leonardo Acho

doi:10.3390/math8122131

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 H∞ 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.

Highlights

Time delays are usually encountered in numerous industrial systems to be controlled, such as distributed networks [1], nuclear reactors [2,3], telecommunication [4], electrical servo systems [5], robotics [6], etc
Notice that the experimental sample-time is set at 0.885 ms, so the time delay induced on the measurements is greater than the acquisition sample-time
This paper presents a robust control design to a nonlinear system, against the presence of random time delay on the measurements, and exogenous disturbances

Summary

Introduction

Time delays are usually encountered in numerous industrial systems to be controlled, such as distributed networks [1], nuclear reactors [2,3], telecommunication [4], electrical servo systems [5], robotics [6], etc. Ignoring the effect of time delays yields a severe deterioration in system performance or even instability. In [8], an overview of recent results for time delay systems is provided. Time delay controllers have practical significance [9,10,11,12,13]. Recent years have witnessed a widespread interest in the synthesis of appropriate control laws for time delay dynamical systems in the presence of uncertainties [14,15,16]

Methods

Results

Conclusion