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Actuators
Special Issues
Robust and Optimal Control: Design Methodologies and Practical Applications
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Robust and Optimal Control: Design Methodologies and Practical Applications

A special issue of Actuators (ISSN 2076-0825).

Deadline for manuscript submissions: closed (31 March 2022) | Viewed by 6411

Special Issue Editors

Dr. Patrick Lanusse

E-Mail Website
Guest Editor
IMS, Bordeaux INP/University of Bordeaux/CNRS, Bordeaux, France
Interests: model-based design of control-systems; robust control; optimal control; mechatronic systems; energy systems; fractional-order systems
Prof. Dr. Vicente Feliu Batlle

E-Mail Website
Guest Editor
Escuela Técnica Superior de Ingeniería Industrial and the Instituto de Investigaciones Energticas y Aplicaciones Industriales (INEI), Universidad de Castilla-La Mancha, Ciudad Real, Spain
Interests: robotics; mechatronics; robust control; nonlinear control
Special Issues, Collections and Topics in MDPI journals
Dr. Tudor-Bogdan Airimitoaie

E-Mail Website
Guest Editor
Univ. Bordeaux, Bordeaux INP, CNRS, IMS-lab, 33405 Talence, France
Interests: adaptive and robust digital control; flat dynamic systems characterization; active noise and vibration control

Special Issue Information

Dear colleagues,

When engineers began to design control systems and more specifically feedback controllers at the turn of the 20th century, with their developments driven by practical needs, their first goals were performance, efficiency and robustness. Quickly, certain design methodologies were proposed and the first applications of optimal control were presented in the early 1960s. While the initial robustness goal has long been forgotten, many robust control design methodologies have been presented since the 1980s and today the principles and performance of all control system design methodologies are evaluated for optimality and robustness. The ease of use allowing engineers to employ these methodologies for their practical problems is also a very important criterion.

Thus, this Special Issue aims to present contributions on robust/optimal/easy-to-use design methodologies and their practical applications. Such contributions could deal with the following topics:

  • Robust control, frequency-domain design, H∞ design, mixed sensitivity design, msynthesis, quantitative feedback theory, fractional order control.
  • Optimal control, quadratic approaches, model predictive control.
  • Data-based control systems, neural network control systems.
  • Reinforcement learning control, iterative learning control.
  • Control system design toolboxes.
  • Practical applications of optimal and robust control systems.

Ass. Prof. Dr. Patrick Lanusse
Prof. Dr. Vicente Feliu Batlle
Dr. Tudor-Bogdan Airimitoaie
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Robust control
  • Optimal control
  • Control application
  • Control system design toolbox

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Published Papers (2 papers)

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Research

23 pages, 1105 KiB  
Article
Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes
by Saddam Gharab, Selma Benftima and Vicente Feliu Batlle
Actuators 2021, 10(12), 317; https://doi.org/10.3390/act10120317 - 30 Nov 2021
Cited by 3 | Viewed by 2626
Abstract
In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and [...] Read more.
In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems. Full article
(This article belongs to the Special Issue Robust and Optimal Control: Design Methodologies and Practical Applications)
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19 pages, 830 KiB  
Article
Robust Control of a Class of Nonlinear Discrete-Time Systems: Design and Experimental Results on a Real-Time Emulator
by Noussaiba Gasmi, Mohamed Boutayeb, Assem Thabet, Ghazi Bel Haj Frej and Mohamed Aoun
Actuators 2021, 10(11), 303; https://doi.org/10.3390/act10110303 - 18 Nov 2021
Cited by 2 | Viewed by 2125
Abstract
The aim of this study is to develop a new observer-based stabilization strategy for a class of Lipschitz uncertain systems. This new strategy improves the performances of existing methods and ensures better convergence conditions. Sliding window approach involves previous estimated states and measurements [...] Read more.
The aim of this study is to develop a new observer-based stabilization strategy for a class of Lipschitz uncertain systems. This new strategy improves the performances of existing methods and ensures better convergence conditions. Sliding window approach involves previous estimated states and measurements in the observer and the control law structures which increase the number of decision variables in the constraint to be solved and offers less restrictive Linear Matrix Inequality (LMI) conditions. The established sufficient stability conditions are in the form of Bilinear Matrix Inequality (BMI) which is solved in two steps. First, by using a slack variable technique and an appropriate reformulation of the Young’s inequality. Second, by introducing a useful approach to transform the obtained constraint to a more suitable one easily tractable by standard software algorithms. A comparison with the standard case is provided to show the superiority of the proposed H∞ observer-based controller which offers greater degree of freedom. The accuracy and the potential of the proposed process are shown through real time implementation of the one-link flexible joint robot to ARDUINO UNO R3 device and numerical comparison with some existing results. Full article
(This article belongs to the Special Issue Robust and Optimal Control: Design Methodologies and Practical Applications)
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