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RISPosition and Current Control of an Interior Permanent Magnet Synchronous Motor by Using Loop Shaping Methodology: Blending of H∠Mixed Sensitivity Problem and T–S Fuzzy Model Scheme
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a robust mixedsensitivity H∠controller design via loopshaping methodology for a class of multipleinput multipleoutput (MIMO) uncertain nonlinear systems. In order to design this controller, the ...
A Robust Time-Varying Riccati-Based Control for Uncertain Nonlinear Dynamical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Riccati equation-based control approaches such as linear-quadratic regulator (LQR) and time-varying LQR (TVLQR) are among the most common methods for stabilizing linear and nonlinear systems, especially in the context of ...
Robust Adaptive Impedance Control With Application to a Transfemoral Prosthesis and Test Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents, compares, and tests two robust model reference adaptive impedance controllers for a three degrees-of-freedom (3DOF) powered prosthesis/test robot. We first present a model for a combined system that ...
Robust Kalman-Type Filter for Non-Gaussian Noise: Performance Analysis With Unknown Noise Covariances
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: The Kalman filter (KF) is optimal with respect to minimum mean square error (MMSE) if the process noise and measurement noise are Gaussian. However, the KF is suboptimal in the presence of non-Gaussian noise. The maximum ...