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# IEE Colloquium on Advances in the Application of Robust Controllers

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Displaying Results 1 - 11 of 11
• ### A robust control design for the longitudinal control of a high performance combat aircraft

Publication Year: 1993, Page(s):8/1 - 8/3
| | PDF (128 KB)

The performance of a modern combat aircraft is enhanced by making the aircraft statically unstable. The pitch rate dynamics of such an aircraft are therefore open-loop unstable and the aircraft requires a stability augmentation system (SAS) to increase the value of a number of stability derivatives to achieve the required flying and handling qualities specifications. In this paper, a novel design ... View full abstract»

• ### Stabilization of a VTOL aircraft-an L2 gain control approach

Publication Year: 1993, Page(s):9/1 - 9/6
| | PDF (208 KB)

Considers the stabilization of a planar vertical take-off and landing (PVTOL) aircraft model. This model assumes that the aircraft is a rigid body with a set of moments and forces acting on it. More significantly, it includes the moment-to-force coupling and exhibits nonminimum phase characteristics. Consequently, it retains the essential properties relating to the stabilization of a real six-degr... View full abstract»

• ### Application of QFT control to a 4 degree of freedom robot manipulator

Publication Year: 1993, Page(s):10/1 - 10/4
| | PDF (124 KB)

Deals with the problems of robot control and the application of quantum feedback theory (QFT) to a four degree of freedom manipulator. The issue of sensor noise amplification by applying high loop-gain or loop gain-phase shaping design methods is addressed View full abstract»

• ### Multi-objective robust controller design using a mixed optimisation approach

Publication Year: 1993, Page(s):1/1 - 1/3
| | PDF (192 KB)

Analytical optimisation design methods generally have weights which are adjusted by the designer to get a good design. To combine analytical and numerical methods, one can simply use numerical search techniques to find good' weighting parameters for the analytical optimisation problem. This note briefly describes how one such numerical search technique, the method of inequalities (MOI), can be co... View full abstract»

• ### Robust control of an induction motor: the combined LQ and coprime factors approach

Publication Year: 1993, Page(s):11/1 - 11/5
Cited by:  Papers (1)
| | PDF (260 KB)

A novel approach to the control of induction motors is presented. Based on approximate linearization using LQR inner loop feedback, the linearized model is used to design a H coprime factors controller which meets the standard parametric and unstructured robustness and performance requirements View full abstract»

• ### Sliding mode control design techniques

Publication Year: 1993, Page(s):3/1 - 3/3
| | PDF (172 KB)

The objective of variable structure control (VSC) is to drive the state from some arbitrary initial conditions onto the intersection of the switching surfaces, and then to maintain it on, or in the neighbourhood of, this intersection subspace. The switching hyperplanes must be chosen so that the sliding mode on their intersection gives the desired dynamic performance of the reduced order equivalen... View full abstract»

• ### H∞ control design and quantitative feedback theory

Publication Year: 1993, Page(s):7/1 - 7/7
| | PDF (284 KB)

The H∞ design approach has the advantage that it is relatively easy to use and iterate upon. There is probably no need for the users to fully understand the details of algorithms, but they should understand the design process. There are practical limitations and disadvantages including the fact that high order controllers are often obtained whereas the classical control paradigm u... View full abstract»

• ### IEE Colloquium on Advances in the Application of Robust Controllers' (Digest No.1993/220)

Publication Year: 1993
| | PDF (8 KB)

The following topics were dealt with: optical control; sliding mode control; hydraulic systems; composite control; intelligent control; Hinfinity control; aircraft control; manipulators; and motor control. View full abstract»

• ### Robust intelligent control through the use of a behaviour based control paradigm

Publication Year: 1993, Page(s):6/1 - 6/6
Cited by:  Papers (2)  |  Patents (2)
| | PDF (272 KB)

Proposes a behaviour based strategy as a new approach to the problem of robust intelligent control in robotics. The classical paradigm is outlined and contrasted with a description of the new behaviour based paradigm. Finally an example system constructed at Edinburgh is described which uses hybrid control for assembly. It consists of a classical planner for high level planning connected to a seri... View full abstract»

• ### Practical stabilization of a class of uncertain composite control systems

Publication Year: 1993, Page(s):5/1 - 5/3
| | PDF (120 KB)

A class of continuous controls, embedded in a multifunction, is presented which guarantees that the system can be practically stabilized, i.e. each control guarantees that a compact set, the size' of which depends on some design parameter(s), is globally uniformly asymptotically stable. By tuning the design parameter(s), the size' can be made as small as desired. Here, the underlying approach is... View full abstract»

• ### Robust sliding mode control of hydraulic valves

Publication Year: 1993, Page(s):4/1 - 4/5
| | PDF (220 KB)

Describes a robust sliding mode (SLM) controller for proportional solenoid valves. Such valves are common in industry due to their simple construction and low cost. The valve used in this study consists of a flow metering spool which is positioned by balancing the force from a solenoid against that of a return spring. The open loop dynamics of these valves are highly nonlinear; the inductance of t... View full abstract»