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Experimental verification of H∞ control with examples of the movement of a wheeled robot

Zenon Hendzel Paweł Penar
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 6 | e139390 | DOI: 10.24425/bpasts.2021.139390
Keywords differential game H∞ control wheeled mobile robot
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Abstract

The paper presents the results of experimental verification on using a zero-sum differential game and H ∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.
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Authors and Affiliations

Zenon Hendzel
1
ORCID: ORCID
Paweł Penar
1
  1. Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, ul. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

An approach to suppress low-frequency oscillation in the hybrid multi-Infeed HVDC of mixed H2/H∞ robust-based control theory

Congshan Li Yan Liu Yikai Li Ping He Yan Fang Tingyu Sheng
Archives of Electrical Engineering | 2022 | vol. 71 | No 1 | 109-124 | DOI: 10.24425/aee.2022.140200
Keywords additional damping controller CSP HMIDC LFO mixed H2/H∞ control TLS-ESPRIT
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Abstract

A hybrid multi-infeed HVDC (HMIDC) system is composed of line-commutated converter-based high-voltage direct current (LCC-HVDC) and voltage-source converterbased high-voltage direct current (VSC-HVDC), whose receiving ends have electrical coupling. To solve the problem of low-frequency oscillation (LFO) caused by insufficient damping in the HMIDC system, according to the multi-objective mixed H2/H∞ output feedback control theory with regional pole assignment, an additional robust damping controller is designed in this paper, which not only has good robustness, but also has strong adaptability to the change of system operation mode. In the paper, the related oscillation modes and transfer function of the controlled plant are obtained, which are identified by the total least squares estimation of signal parameters via rotary invariance technology (TLS-ESPRIT). In addition, the control-sensitive point (CSP) for suppressing LFO based on the small disturbance test method is determined, which is suitable for determining the installation position of the controller. The results show that the control sensitivity factor of VSC-HVDC is greater than that of LCC-HVDC so that adding an additional damping controller to VSC-HVDC is better than LCC-HVDC in suppressing the LFO of HMIDC. Finally, a hybrid double infeed DC transmission system with three receiving terminals is built on PSCAD/EMTDC where the time-domain simulations are performed to verify the correctness of the CSP selection and the effectiveness of the controller.
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Authors and Affiliations

Congshan Li
1
ORCID: ORCID
Yan Liu
1
ORCID: ORCID
Yikai Li
1
ORCID: ORCID
Ping He
1
ORCID: ORCID
Yan Fang
1
ORCID: ORCID
Tingyu Sheng
1
ORCID: ORCID
  1. School of Electrical and Information Engineering, Zhengzhou University of Light Industry, China

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