Call for Paper - May 2015 Edition
IJCA solicits original research papers for the May 2015 Edition. Last date of manuscript submission is April 20, 2015. Read More
Comparison between H∞ and CRONE Control Combined with QFT Approach to Control Multivariable Systems in Path Tracking Design
International Journal of Computer Applications
© 2012 by IJCA Journal
Volume 45 - Number 12
Year of Publication: 2012
|
10.5120/6829-9192 |
Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel and Alain Oustaloup. Article: Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design. International Journal of Computer Applications 45(12):1-9, May 2012. Full text available. BibTeX
@article{key:article,
author = {Najah Yousfi and Pierre Melchior and Chokri Rekik and Nabil Derbel and Alain Oustaloup},
title = {Article: Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design},
journal = {International Journal of Computer Applications},
year = {2012},
volume = {45},
number = {12},
pages = {1-9},
month = {May},
note = {Full text available}
}
Abstract
Motion control and robust path tracking were the subject of this paper. A method based on fractional prefilter which is extended to multivariable systems is developed. This approach is based on the MIMO-QFT robust synthesis methodology combined with CRONE control. This paper incorporates Quantitative Feedback Theory (QFT) principles to CRONE control design procedure to solve the Two-Degree-Of-Freedom (TDOF) with Highly Uncertain Plants. A comparison between H∞ and CRONE controllers has been done. After that, synthesis of fractional prefilters is given with optimization of its parameters using integral gap criterion. To assess the proposed design, a numerical example has been considered.
References
- P. Melchior, B. Orsoni, Th. Badie, G. Robin. Génération de consigne optimale par filtre à dérivée généralisée implicite : Application au véhicule électrique. In Proceedings of the IEEE CIFA’2000 conference, Lille, France, 2000.
- A. Poty, P. Melchior, A. Oustaloup. Frequency band-limited fractional differentiator in path tracking design. In Proceedings of the second IFAC Workshop on Fractional Differentiation and its Applications, Portugal, 2006.
- P. Melchior, G. Robin, S. L’Hostis, F. Levron. Non integer order movement generation in path planning. In Proceedings of IEEE-SMC CESA 98 IMACS, Nabeul Hammamet, Tunisia, 4:371-375, April 1-4, 1998.
- P. Melchior, C. Inarn, A. Oustaloup. Path tracking design by fractional prefilter extension to square MIMO systems. In Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, California, USA, 2009.
- I. Horowitz. Synthesis of Feedback Systems. Academic Press, New York, 1963.
- I. Horowitz. Quantitative synthesis of uncertain multiple input- output feedback system. International Journal of Control, 30(1), 81-106, 1979.
- I. Horowitz. Survey of quantitative feedback theory (QFT). International Journal of Robust and Nonlinear Control, 11, 887-921, 2001.
- I. Horowitz, M. Sidi. Synthesis of feedback systems for prescribed time domain tolerances. International Journal of Control, 16(2), 287-309, 1972.
- S. Mohammad, M. Alavi, A. Khaki Sedigh, B. Labibi. Pre-Filter design for tracking error specifications in MIMO-QFT. In Proceeding of the 44th IEEE Conference on Decision and Control, and the European Control Conference, Seville, Spain, 2005.
- E. Boje. Non-diagonal controllers in MIMO quantitative feedback design. International Journal of Robust and Nonlinear Control, 2002.
- W. Zenghui, C. Zengqiang, S. Qinglin, Y. Zhuzh. Multivariable decoupling predictive control based on QFT theory and application in CSTR chemical process. Chinese J. Chem. Eng, 2006.
- S. Skogestad, I. Postlethwaite. Multivariable feedback control, Analysis and design. JHON WILEY & SONS, New York, 1996.
- C.C. Cheng, Y.K. Liao, T.S. Wang. Quantitative feedback design of uncertain multivariable control system. International Journal of Control, 65(3), 537-553, 1996.
- A. Oustaloup. Fractional order sinusoidal oscillators: optimization and their use in highly linear F.M. modulation. IEEE Transactions on Circuits and Systems, 28(10), 1007- 1009, 1981.
- A.Oustaloup, B. Mathieu. La commande CRONE: Du scalaire au multivariable. Hermès Editions, Paris, 1999.
- A. Oustaloup, B. Mathieu, P. Lanusse. Intégration non entière complexe et contours d’isoamortissement. Automatique, Productique, Informatique Industrielle 29(1), 177-202, 1995.
- A. Oustaloup. The CRONE control. In Proceedings of the European Control Conference ECC’91, Grenoble, France, July, 1991.
- P. Lanusse. De la commande CRONE de première génération à la commande CRONE de troisième génération. PhD thesis, Bordeaux I University, France, 1994.
- A. Oustaloup, B. Mathieu, P. Lanusse, J. Sabatier. La commande CRONE. 2nd edition. Editions HERMES, Paris, 1999.
- P. Lanusse, D. Nelson Gruel, J. Sabatier, R.Lasnier et A. Oustaloup. Synthèse multivariable d’une commande CRONE décentralisée. Automatique et Informatique Appliquée, éditions de l’Académie Roumaine, 2009.
- Oustaloup, B. Mathieu, P. Lanusse. The CRONE control of resonant plants: application to a flexible transmission. Eur. J. Control, 1(2), 1995.
- P. Lanusse, A. Oustaloup, B. Mathieu. Robust control of LTI square MIMO plants using two CRONE control design approaches. IFAC Symposium on Robust Control Design ROCOND 2000, Prague, Czech Republic, 2000.
- CRONE research group. CRONE control design module user’s guide. Version 4.0, 2010.
- D. Nelson Gruel, P. Lanusse, A. Oustaloup. Decentralized CRONE control of m × n multivariable system with time-delay. Springer Book entitled “New Trends in Nanotechnology and Fractional Calculus Applications”, 2009.
- Y. JANAT. Commande CRONE monovariable et multivariable de systèmes peu amortis. PhD thesis, Bordeaux I University, France, 2007.
- D. Nelson Gruel, P. Lanusse, A. Oustaloup. Robust control design for multivariable plants with time-delays. Chemical Engineering Journal, 146, 414-427, 2009.
- Oustaloup , P. Melchior, P. Lanusse , O. Cois , F. Dancla. The CRONE toolbox for Matlab. In Proceeding of the IEEE Int. Symp. on Computer-Aided Control-System Design, Anchorage, USA, 2000.
- Orsoni, P. Melchior, A. Oustaloup. Davidson-Cole transfer function in path tracking design. In Proceedings of the 6th IEEE-ECC’2001, Porto, Portugal, September 4-7, 2001.