Conic-sector-based controller synthesis: Theory and experiments

Leila Jasmine Bridgeman; Ryan James Caverly; James Richard Forbes

doi:10.1109/ACC.2014.6858600

Conic-sector-based controller synthesis: Theory and experiments

Leila Jasmine Bridgeman, Ryan James Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Scopus citations

Abstract

The Passivity Theorem is a popular input-output stability analysis tool. However, passivity violations, which are often due to sensor and actuator dynamics, may cause instabilities, necessitating the adoption of alternative stability results. This paper presents experimental results employing controllers that ensure stability via the Conic Sector Theorem. A new conic sector controller synthesis method mimicking an ℋ₂-optimal controller is presented and compared to an existing conic sector controller synthesis method, and an ℋ₂ controller itself. The conic controllers are found to yield increased robustness and improved performance in the presence of passivity violations.

Original language	English (US)
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4292-4297
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6858600
State	Published - 2014
Externally published	Yes
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: Jun 4 2014 → Jun 6 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	6/4/14 → 6/6/14

Keywords

LMIs
Mechanical systems/robotics
Robust control

Publisher link

10.1109/ACC.2014.6858600

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Conic-sector-based controller synthesis: Theory and experiments. / Bridgeman, Leila Jasmine; Caverly, Ryan James; Forbes, James Richard.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4292-4297 6858600 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bridgeman, LJ, Caverly, RJ & Forbes, JR 2014, Conic-sector-based controller synthesis: Theory and experiments. in 2014 American Control Conference, ACC 2014., 6858600, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 4292-4297, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 6/4/14. https://doi.org/10.1109/ACC.2014.6858600

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AB - The Passivity Theorem is a popular input-output stability analysis tool. However, passivity violations, which are often due to sensor and actuator dynamics, may cause instabilities, necessitating the adoption of alternative stability results. This paper presents experimental results employing controllers that ensure stability via the Conic Sector Theorem. A new conic sector controller synthesis method mimicking an ℋ2-optimal controller is presented and compared to an existing conic sector controller synthesis method, and an ℋ2 controller itself. The conic controllers are found to yield increased robustness and improved performance in the presence of passivity violations.

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ER -

Conic-sector-based controller synthesis: Theory and experiments

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