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Go to Editorial ManagerIn this paper, the derivation of optimal control using state derivative feedback to obtain a new control approach is presented. A control approach similar to linear quadratic regulator (LQR) is applied to find the optimal gain matrices that achieve the desired performance. The effectiveness and robustness of the proposed controller can be shown using the uncertain and under-actuated overhead crane system. The results show that the proposed controller can robustly stabilize the system in the presence of system parameters uncertainty. Further, a more desirable time response specifications can be obtained using state derivative feedback control in comparison to the state feedback control.
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H? controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications.
In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H2 sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H2 sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance.