Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors
Optimizing the performance of motion control systems with variations in nonlinear parameters is not an easy task. To accomplish this task, it is important to design the controller using the linear system approach. In this study, a linear parameter varying (LPV) control method is proposed in which no...
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MDPI AG
2024-10-01
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| Series: | Mathematics |
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| author | Khac Huan Su Keunhoon Park Young Seop Son Youngwoo Lee |
| author_facet | Khac Huan Su Keunhoon Park Young Seop Son Youngwoo Lee |
| author_sort | Khac Huan Su |
| collection | DOAJ |
| description | Optimizing the performance of motion control systems with variations in nonlinear parameters is not an easy task. To accomplish this task, it is important to design the controller using the linear system approach. In this study, a linear parameter varying (LPV) control method is proposed in which nonlinearities are treated as parameter variations for planar motors. The proposed control method consists of the force and torque modulation with the commutation scheme and the nonlinear current controller with H<sub>∞</sub> state feedback control in the form of LPV synthesis to improve the position-tracking performance. An interpolated gain-scheduling controller based on LPV synthesis is determined by applying H<sub>∞</sub> control to a linear matrix inequality technique. An interpolated gain-scheduling controller can attenuate disturbance without disturbance estimation. The effectiveness of the proposed control method is evaluated using simulation results and compared with the conventional proportional–integral–derivative control to verify both improved position-tracking performance and disturbance attenuation. |
| format | Article |
| id | doaj-art-50c8a99194bb4f2eb2a804167e6d6fa7 |
| institution | OA Journals |
| issn | 2227-7390 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-50c8a99194bb4f2eb2a804167e6d6fa72025-08-20T02:10:56ZengMDPI AGMathematics2227-73902024-10-011220329310.3390/math12203293Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar MotorsKhac Huan Su0Keunhoon Park1Young Seop Son2Youngwoo Lee3Department of Control and Automation Engineering, Eastern International University, Thu Dau Mot 820000, VietnamDepartment of Electrical Engineering, Hanyang University, Seoul 13391, Republic of KoreaGraduate School of Data Science, Kyungpook National University, Daegu 41566, Republic of KoreaSchool of Electrical Engineering, Hanyang University, Ansan 15588, Republic of KoreaOptimizing the performance of motion control systems with variations in nonlinear parameters is not an easy task. To accomplish this task, it is important to design the controller using the linear system approach. In this study, a linear parameter varying (LPV) control method is proposed in which nonlinearities are treated as parameter variations for planar motors. The proposed control method consists of the force and torque modulation with the commutation scheme and the nonlinear current controller with H<sub>∞</sub> state feedback control in the form of LPV synthesis to improve the position-tracking performance. An interpolated gain-scheduling controller based on LPV synthesis is determined by applying H<sub>∞</sub> control to a linear matrix inequality technique. An interpolated gain-scheduling controller can attenuate disturbance without disturbance estimation. The effectiveness of the proposed control method is evaluated using simulation results and compared with the conventional proportional–integral–derivative control to verify both improved position-tracking performance and disturbance attenuation.https://www.mdpi.com/2227-7390/12/20/3293planar motorslinear parameter varying systemlinear matrix inequalityH<sub>∞</sub> control |
| spellingShingle | Khac Huan Su Keunhoon Park Young Seop Son Youngwoo Lee Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors Mathematics planar motors linear parameter varying system linear matrix inequality H<sub>∞</sub> control |
| title | Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors |
| title_full | Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors |
| title_fullStr | Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors |
| title_full_unstemmed | Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors |
| title_short | Performance Optimization with LPV Synthesis for Disturbance Attenuation in Planar Motors |
| title_sort | performance optimization with lpv synthesis for disturbance attenuation in planar motors |
| topic | planar motors linear parameter varying system linear matrix inequality H<sub>∞</sub> control |
| url | https://www.mdpi.com/2227-7390/12/20/3293 |
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