Robust control for a networked direct-drive linear motion control system: Design and experiments

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• 作者：Li Qiu^a ; Yang Shi ; ^b ; ^{yshi@uvic.ca" class="auth_mail" title="E-mail the corresponding author} ; ^{yangshi.uvic@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Jianfei Pan^a ; Bugong Xu^c ; Huxiong Li^d
• 关键词：Networked control systems ; Robust control ; Linear switched reluctance machine ; Network-induced random time delays
• 刊名：Information Sciences
• 出版年：2016
• 出版时间：20 November 2016
• 年：2016
• 卷：370-371
• 期：Complete
• 页码：725-742
• 全文大小：1469 K

文摘

This paper investigates the robust control method for networked dynamic systems and its application for a direct-drive linear motion control system in a network environment. The unavoidable network-induced random delays are modeled as Markov chains. The control object of the linear motion control system in this study is a double-sided linear switched reluctance machine (DLSRM). To tackle the inherent uncertainties in the DLSRM, a robust control strategy is designed by proposing a new Lyapunov function and applying the free-weighting matrix technique. A state feedback robust controller is designed such that the closed-loop direct-drive linear motion control system over a network is stochastically robust stable. The robust controller can be conveniently obtained by solving a set of linear matrix inequalities. The numerical simulation of an angular positioning system is presented to illustrate the effectiveness of the proposed robust control method. Furthermore, the experimental tests on the networked direct-drive linear motion control system verify the practicability of the proposed method.