Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems

DOI10.1016/J.JFRANKLIN.2011.06.013MaRDI QIDQ658620zbMATH OpenOpenAlexFDO

Authors James Richard Forbes, Christopher Damaren

Publication date 13 January 2012

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2011.06.013

zbMATH Keywords

numerical optimizationfrequency domainstate-space equationsclosed-loop \(\mathcal H_{2}\)-normdesign of optimal Strictly Positive Real (SPR) controllersflexible manipulatorsKalman-Yakubovich-Popov Lemmatransfer functions/matrices

Mathematics Subject Classification ID

Positive matrices and their generalizations; cones of matrices (15B48) Applications of optimal control and differential games (49N90) Multivariable systems, multidimensional control systems (93C35) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 53598 (Why is no real title available?)
• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• scientific article; zbMATH DE number 5060482 (Why is no real title available?)
• Dissipative H/sub 2//H/sub ∞/ controller synthesis
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• Linear matrix inequalities for robust strictly positive real design
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• Optimal strictly positive real approximations for stable transfer functions
• Optimal strictly positive real controllers using direct optimization
• Passivity analysis for flexible multilink space manipulators
• Robust multivariable control of large space structures using positivity
• Simulation of Flexible-Link Manipulators With Inertial and Geometric Nonlinearities
• Stability of Large Space Structure Control Systems Using Positivity Concepts
• Strictly positive real matrices and the Lefschetz-Kalman-Yakubovich lemma
• Synthesis of positive real ℋ/sub 2/ controllers
• Time domain and frequency domain conditions for strict positive realness

Cited in

(6)

• Dual approaches to strictly positive real controller synthesis with a \(\mathcal{H}_2\) performance using linear matrix inequalities
• Synthesis of strictly positive real \(\mathcal{H}_2\) controllers using dilated LMIs
• Conic-sector-based control to circumvent passivity violations
• Robust tracking control for a class of flexible-joint time-delay robots using only position measurements
• Optimal strictly positive real controllers using direct optimization
• A robust optimal design for strictly positive realness in recursive parameter adaptation

Describes a project that uses

Uses Software

• QDES

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