An ∞-LQ regulator and sliding mode controller for a flexible structure with synchronous motor

Author

Alba-Flores, Rocio ; Drakunov, Sergey ; Barbieri, Enrique

Author_Institution

Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA

fYear

1996

fDate

31 Mar-2 Apr 1996

Firstpage

76

Lastpage

80

Abstract

In this paper the steady-state linear-quadratic regulator (LQR) is considered as the nominal or desired control for a simplified model of a flexible structure with torque actuation at its hub. Next, a synchronous motor is used as the source of the torque input with dynamics given by a set of nonlinear differential equations. Finally, a sliding-mode controller is designed for the synchronous motor using a sliding manifold that effectively ensures that the optimal regulator control law is generated. Preliminary simulations in SIMULINK are included to illustrate the results on a one-mode model of a flexible link

Keywords

control system synthesis; flexible structures; linear quadratic control; machine control; nonlinear differential equations; synchronous motors; variable structure systems; ∞-LQ regulator; flexible structure; nonlinear differential equations; one-mode model; optimal regulator control law; sliding manifold; sliding mode controller; steady-state linear-quadratic regulator; synchronous motor; torque actuation; Differential equations; Flexible structures; H infinity control; Regulators; Riccati equations; Rotors; Shape control; Sliding mode control; Synchronous motors; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on

Conference_Location

Baton Rouge, LA

ISSN

0094-2898

Print_ISBN

0-8186-7352-4

Type

conf

DOI

10.1109/SSST.1996.493475

Filename

493475