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Related Experiment Video

Updated: Nov 25, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Two degree of freedom robust data-driven fixed-order controller synthesis using convex optimization.

Ersin Daş1, Selahattin Çağlar Başlamışlı2

  • 1Mechatronics Department, TÜBİTAK SAGE, Ankara 06261, Turkey.

ISA Transactions
|December 21, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a data-driven robust controller for precise positioning systems. The novel approach enhances reference tracking performance while maintaining system robustness, verified in air vehicle actuation systems.

Keywords:
2-DOF controlConvex optimizationData-driven controlFixed-order controlFull-closed loop systemLaguerre basis function

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Area of Science:

  • Control Engineering
  • Systems Science
  • Robotics

Background:

  • Achieving precise reference tracking in feedback control systems is challenging due to the inherent trade-off between performance and robustness.
  • Existing methods often struggle to simultaneously improve fine positioning accuracy and maintain desired robustness levels.

Purpose of the Study:

  • To propose a novel data-driven approach for designing a robust fixed-order H-infinity controller for precise reference tracking.
  • To address the limitations of traditional control methods in balancing performance and robustness.

Main Methods:

  • Utilizing convex optimization and semi-definite programming for controller design based on non-parametric frequency domain data.
  • Developing a robust performance condition using established stability theorems and synthesis methods.
  • Applying the algorithm to time-delay systems without approximation.

Main Results:

  • A two-degree-of-freedom robust fixed-order H-infinity controller was designed using a data-driven convex optimization framework.
  • The method successfully formulated closed-loop objectives and robust performance conditions as convex functions.
  • Experimental validation on an air vehicle electromechanical actuation system demonstrated improved positioning accuracy.

Conclusions:

  • The proposed data-driven approach effectively enhances precise reference tracking performance in positioning systems.
  • The method offers a robust and efficient solution applicable to time-delay systems and verified experimentally.
  • This work contributes a valuable tool for improving the control of complex electromechanical systems.