TY - GEN
T1 - Conic-sector-based controller synthesis
T2 - 2014 American Control Conference, ACC 2014
AU - Bridgeman, Leila Jasmine
AU - Caverly, Ryan James
AU - Forbes, James Richard
PY - 2014
Y1 - 2014
N2 - 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.
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.
KW - LMIs
KW - Mechanical systems/robotics
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=84905686726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905686726&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6858600
DO - 10.1109/ACC.2014.6858600
M3 - Conference contribution
AN - SCOPUS:84905686726
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 4292
EP - 4297
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 June 2014 through 6 June 2014
ER -