Conference paper
The Robust Control Mixer Module Method for Control Reconfiguration
The control mixer method proposed in Huber and McCulloch (1984) and Rattan (1985) is efficient in improving an ordinary control system into a fault tolerant one, especially for these control systems of which the real-time and online redesign of the control laws is very difficult. In order to consider the stability, performance and robustness of the reconfigured system simultaneously, and to deal with a more general controller configuration than the static feedback mechanism considered by the conventional control mixer method, the robust control mixer module method is proposed in this paper.
The form of the control mixer module extends from a static gain matrix into an LTI dynamical system. Furthermore, multiple dynamical control mixer modules can be employed in our consideration. The H/sub /spl infin// control theory is used for the analysis and design of the robust control mixer modules.
Finally, one robotic arm (ERA) system is used to test the proposed method.
| Language: | English |
|---|---|
| Year: | 2000 |
| Pages: | 3407,3408,3409,3410,3411 |
| Proceedings: | Proceedings of 2000 American Control Conference (ACC 2000) |
| ISBN: | 0780355199 and 9780780355194 |
| ISSN: | 23785861 and 07431619 |
| Types: | Conference paper |
| DOI: | 10.1109/ACC.2000.879200 |
| ORCIDs: | Blanke, Mogens |
Aerospace control Chromium Control engineering Control systems Control theory Feedback H/sub /spl infin// control theory H/sup /spl infin// control LTI dynamical system Real time systems Robust control Robust stability Transfer functions closed loop systems control reconfiguration control system synthesis fault tolerance fault tolerant control system linear systems matrix algebra robotic arm system robots robust control robust control mixer module method robustness static gain matrix
