Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems
DOI10.1016/J.JFRANKLIN.2011.06.013zbMATH Open1231.93062OpenAlexW2009771027MaRDI QIDQ658620FDOQ658620
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
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numerical optimizationfrequency domainstate-space equationsclosed-loop \(\mathcal H_{2}\)-normdesign of optimal Strictly Positive Real (SPR) controllersflexible manipulatorsKalman-Yakubovich-Popov Lemmatransfer functions/matrices
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)
Cites Work
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- Simulation of Flexible-Link Manipulators With Inertial and Geometric Nonlinearities
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- Stability of Large Space Structure Control Systems Using Positivity Concepts
- Dissipative H/sub 2//H/sub ∞/ controller synthesis
- Frequency domain conditions for strictly positive real functions
- Robust multivariable control of large space structures using positivity
- On the design of linear multivariable feedback systems via constrained nondifferentiable optimization in H/sup infinity / spaces
- Optimal strictly positive real approximations for stable transfer functions
- On the design of strictly positive real transfer functions
- Synthesis of positive real ℋ/sub 2/ controllers
- Passivity analysis for flexible multilink space manipulators
- On a class of marginally stable positive-real systems
- Linear matrix inequalities for robust strictly positive real design
- Optimal strictly positive real controllers using direct optimization
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
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