Data-driven H∞ control of constrained systems: an application to bilateral teleoperation system

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dc.contributor.authorKüçükdemiral, İbrahim
dc.contributor.authorYazıcı, Hakan
dc.contributor.authorGörmüş, Bilal
dc.contributor.authorBevan, Geraint Paul
dc.date.accessioned2024-06-13T20:18:01Z
dc.date.available2024-06-13T20:18:01Z
dc.date.issued2023
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractA novel, identification-free, data-driven (DD) H-infinity control method is presented for discrete-time (DT) linear time-invariant (LTI) systems under physical limitations and norm-bounded disturbances. The presented approach does not demand information on system matrices or any measurements of disturbance affecting the system. The only information needed to develop a static state-feedback (SF) controller is the bounds on disturbances, states and control signals. It is assumed that only the disturbance input matrix and the performance matrices the user generally defines are known, and all others are entirely unknown. The proposed method relies on the closed-loop (CL) parametrization of the LTI system with control input and state measurements. The disturbances affecting the system states are handled as affine uncertainties, later represented as Linear Fractional Transformation (LFT). For obtaining a less conservative controller, a full block S-procedure method (FBSPM) is used, which takes advantage of relaxations such as convex hull relaxation or Polya relaxation for the inner approximation of the disturbance set with arbitrary precision. Numerical illustrations and extensive case studies on a bilateral teleoperation system indicate that the proposed design method allows us to obtain very effective controllers which never exceed the bounds of the state and input variables and are capable of reference and force tracking.
dc.identifier.doi10.1016/j.isatra.2023.01.030
dc.identifier.endpage34
dc.identifier.issn0019-0578
dc.identifier.issn1879-2022
dc.identifier.pmid36739243
dc.identifier.scopus2-s2.0-85148763250
dc.identifier.scopusqualityQ1
dc.identifier.startpage23
dc.identifier.urihttps://doi.org/10.1016/j.isatra.2023.01.030
dc.identifier.urihttps://hdl.handle.net/11501/1168
dc.identifier.volume137
dc.identifier.wosWOS:001020559300001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.institutionauthorGörmüş, Bilal
dc.institutionauthorid0000-0002-2173-7664
dc.language.isoen
dc.publisherElsevier Science Inc
dc.relation.ispartofISA Transactions
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectData-Driven H-Infinity Control
dc.subjectLinear Matrix Inequalities
dc.subjectPhysical Constraints and Norm-Bounded Disturbance
dc.titleData-driven H∞ control of constrained systems: an application to bilateral teleoperation system
dc.typeArticle

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