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Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design

by Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel, Alain Oustaloup
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 45 - Number 12
Year of Publication: 2012
Authors: Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel, Alain Oustaloup
10.5120/6829-9192

Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel, Alain Oustaloup . Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design. International Journal of Computer Applications. 45, 12 ( May 2012), 1-9. DOI=10.5120/6829-9192

@article{ 10.5120/6829-9192,
author = { Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel, Alain Oustaloup },
title = { Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design },
journal = { International Journal of Computer Applications },
issue_date = { May 2012 },
volume = { 45 },
number = { 12 },
month = { May },
year = { 2012 },
issn = { 0975-8887 },
pages = { 1-9 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume45/number12/6829-9192/ },
doi = { 10.5120/6829-9192 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:37:24.554511+05:30
%A Najah Yousfi
%A Pierre Melchior
%A Chokri Rekik
%A Nabil Derbel
%A Alain Oustaloup
%T Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design
%J International Journal of Computer Applications
%@ 0975-8887
%V 45
%N 12
%P 1-9
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Motion control and robust path tracking were the subject of this paper. A method based on fractional prefilter which is extended to multivariable systems is developed. This approach is based on the MIMO-QFT robust synthesis methodology combined with CRONE control. This paper incorporates Quantitative Feedback Theory (QFT) principles to CRONE control design procedure to solve the Two-Degree-Of-Freedom (TDOF) with Highly Uncertain Plants. A comparison between H∞ and CRONE controllers has been done. After that, synthesis of fractional prefilters is given with optimization of its parameters using integral gap criterion. To assess the proposed design, a numerical example has been considered.

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Index Terms

Computer Science
Information Sciences

Keywords

Path Tracking MIMO structures H∞ design CRONE control Robotics

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