Conic-sector-based controller synthesis: Theory and experiments

Leila Jasmine Bridgeman, Ryan James Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4292-4297
Number of pages6
ISBN (Print)9781479932726
DOIs
StatePublished - Jan 1 2014
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period6/4/146/6/14

Keywords

  • LMIs
  • Mechanical systems/robotics
  • Robust control

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