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

DOI10.1016/j.jfranklin.2011.06.013zbMath1231.93062OpenAlexW2009771027MaRDI QIDQ658620

James Richard Forbes, Christopher John 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

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

Mathematics Subject Classification ID

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

Related Items (4)

Robust tracking control for a class of flexible-joint time-delay robots using only position measurements ⋮ Synthesis of strictly positive real ℋ₂ controllers using dilated LMIs ⋮ Conic-sector-based control to circumvent passivity violations ⋮ Dual approaches to strictly positive real controller synthesis with a H2 performance using linear matrix inequalities

Uses Software

• QDES

Cites Work

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