Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion

DOI10.1109/TAC.2014.2325692zbMATH Open1360.70011arXiv1305.1079MaRDI QIDQ2982986FDOQ2982986

Authors: Mohamed Mabrok, Abhijit G. Kallapur, Ian R. Petersen, Alexander Lanzon 

Publication date: 16 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: Negative imaginary (NI) systems play an important role in the robust control of highly resonant flexible structures. In this paper, a generalized NI system framework is presented. A new NI system definition is given, which allows for flexible structure systems with colocated force actuators and position sensors, and with free body motion. This definition extends the existing definitions of NI systems. Also, necessary and sufficient conditions are provided for the stability of positive feedback control systems where the plant is NI according to the new definition and the controller is strictly negative imaginary. The stability conditions in this paper are given purely in terms of properties of the plant and controller transfer function matrices, although the proofs rely on state space techniques. Furthermore, the stability conditions given are independent of the plant and controller system order. As an application of these results, a case study involving the control of a flexible robotic arm with a piezo-electric actuator and sensor is presented.

Full work available at URL: https://arxiv.org/abs/1305.1079

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Cited In (42)

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• Absolute stability analysis for negative-imaginary systems
• Retrofitting of bridge superstructures using negative imaginary control theory
• Converse negative imaginary theorems
• Moment matching model reduction for negative imaginary systems
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• Robust output consensus of discrete-time networked negative imaginary systems
• Negative imaginary synthesis via dynamic output feedback and static state feedback: a Riccati approach
• Robust formation control for networked robotic systems using negative imaginary dynamics
• An observer-based control scheme using negative-imaginary theory
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• Applying negative imaginary systems theory to non-square systems with polytopic uncertainty
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• A negative imaginary robust formation control scheme for networked multi-tilt tricopters utilizing an inner-loop sliding-mode control technique
• Static output feedback negative imaginary controller design with H ₂ performance
• Closed-loop stability analysis of discrete-time negative imaginary systems
• Strictly negative imaginary state feedback control with a prescribed degree of stability
• Stability analysis and controller design for Lur'e system with hysteresis nonlinearities: a negative-imaginary theory based approach
• Solution to negative-imaginary control problem for uncertain LTI systems with multi-objective performance
• Forward action to make a system negative imaginary
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• On non-proper negative imaginary systems
• Robust cooperative control of multiple heterogeneous negative-imaginary systems
• Discrete-time negative imaginary systems
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• Robustness analysis of the feedback interconnection of discrete-time negative imaginary systems via integral quadratic constraints
• Robust output consensus of networked negative imaginary systems via an integral quadratic constraint approach
• A phase theory of multi-input multi-output linear time-invariant systems
• Converse theorems for the property of negative imaginary systems
• Properties and stability analysis of discrete-time negative imaginary systems
• Interval frequency negative imaginary systems
• On \(\alpha\)- and \(\mathcal{D}\)-negative imaginary systems
• Robust stability conditions for feedback interconnections of distributed-parameter negative imaginary systems
• Necessary and sufficient conditions for lossless negative imaginary systems
• On LTI output strictly negative-imaginary systems
• Control of negative imaginary systems exploiting a dissipative characterization
• A generalized negative imaginary lemma and Riccati-based static state-feedback negative imaginary synthesis
• Robust output consensus of homogeneous multi-agent systems with negative imaginary dynamics
• Making nonlinear systems negative imaginary via state feedback
• A dynamic controller synthesis methodology for negative imaginary systems using the internal model control principle
• Dynamic dissipative characterisation of time-domain input-output negative imaginary systems

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