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- Title
Reconfigurable Controller Design in Descriptor Systems Obtained from Second Order Dynamic Systems via State Feedback Eigenstructure Assignment.
- Authors
Valadbeygi, Amir Parviz; Pourgharibshahi, Vahid
- Abstract
this paper proposes a new method for designing a reconfigurable controller for descriptor systems which is obtained from the second order dynamics of a robot control situation. Using mathematical tools the equations of robot control situation have been translated to descriptor systems, thus, after this change the controller has been designed for control performances. The proposed reconfigurable controller can recover the nominal closed-loop performances after fault occurrence in the system. The dynamics of descriptor systems contain infinite and finite elements, so a complete response of descriptor systems can be represented by an eigenstructure which involves finite and infinite elements. In this paper eigenstructure assignment is used to design a reconfigurable controller in general such that the reconfigured system can recover the complete response of a nominal system as much as possible. Finally, an example represents the effectiveness of the new method.
- Subjects
DESCRIPTOR systems; RECONFIGURABLE robots; SYSTEMS design; DYNAMICAL systems; FEEDBACK control systems; INFINITY (Mathematics); MATHEMATICAL models; CLOSED loop systems
- Publication
International Journal of Advanced Robotic Systems, 2012, Vol 9, Issue 11, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/51894