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Research Papers

Integrated Robust Optimal Design Using Bilinear Matrix Inequality Approach Via Sensitivity Minimization

[+] Author and Article Information
Punit J. Tulpule

Department of Mechanical Engineering,
Iowa State University,
Ames, IA 50011
e-mail: ptulpule@iastate.edu

Atul G. Kelkar

ASME Fellow
Professor
Department of Mechanical Engineering,
Iowa State University,
Ames, IA 50011
e-mail: akelkar@iastate.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 2, 2013; final manuscript received October 10, 2013; published online February 19, 2014. Assoc. Editor: Fu-Cheng Wang.

J. Dyn. Sys., Meas., Control 136(3), 031012 (Feb 19, 2014) (8 pages) Paper No: DS-13-1092; doi: 10.1115/1.4026132 History: Received March 02, 2013; Revised October 10, 2013

A novel integrated robust control synthesis methodology is presented here which combines a traditional sensitivity theory with relatively new advancements in bilinear matrix inequality (BMI) constrained optimization problems. The proposed methodology is demonstrated using a numerical example of integrated control design problem for combine harvester header linkage. The integrated design methodology presented is compared with a traditional sequential design method and the results show that the proposed methodology provides a viable alternative for robust controller synthesis and often times offers even a better performance than competing methods.

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Figures

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Fig. 1

Schematic diagram of combine harvester

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Fig. 2

Schematic diagram of combine header. Pin joint location in the body centered coordinate system is the design parameter. Sensitivity is also computed with respect to this parameter.

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Fig. 3

Schematic of dynamics included in the system

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Fig. 4

Comparison between only controller design and integrated controller/structure design. (a) Comparison between performance. (b) Comparison between sensitivities. (c) Comparison between control inputs.

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