Advances in robust control methods and application to flying discs
Lead Research Organisation:
University of Manchester
Department Name: Electrical and Electronic Engineering
Abstract
This project advances linear and nonlinear robust control methods (particularly H-infinity methods) in the following three theoretical directions to produce design paradigms that are easier and less conservative to use in practice: (a) Weight optimisation and synthesis - i.e. techniques that assist in the selection of optimal weighting functions; (b) Analysis and synthesis tools for nonlinear systems with counter-clockwise input-output dynamics and for linear systems with negative imaginary frequency response; and (c) Non-conservative model embedding and corresponding distance metrics.Experimental applicability studies will also be undertaken on powered flight of spinning discs (i.e. powered Frisbee-like flight). Such flying discs are attractive because they can in the future lead to reliable and effective Miniature Unmanned Aerial Vehicles (UAVs) which are important in a vast number of applications, including surveillance, reconnaissance and increased border security. Instrumented test-rigs will be constructed during the course of this project to study the control problems pertaining to powered flight of spinning discs.
Organisations
People |
ORCID iD |
Alexander Lanzon (Principal Investigator) |
Publications
Xiong J
(2015)
Negative Imaginary Lemmas for Descriptor Systems
in IEEE Transactions on Automatic Control
Mabrok M
(2015)
A generalized negative imaginary lemma and Riccati-based static state-feedback negative imaginary synthesis
in Systems & Control Letters
Mabrok M
(2014)
Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion
in IEEE Transactions on Automatic Control
Mabrok M
(2014)
Spectral Conditions for Negative Imaginary Systems With Applications to Nanopositioning
in IEEE/ASME Transactions on Mechatronics
Carrasco J
(2014)
On multipliers for bounded and monotone nonlinearities
in Systems & Control Letters
Lanzon A
(2014)
Flight Control of a Quadrotor Vehicle Subsequent to a Rotor Failure
in Journal of Guidance, Control, and Dynamics
Carrasco J
(2014)
LMI searches for anticausal and noncausal rational Zames-Falb multipliers
in Systems & Control Letters
Wang J
(2014)
A Robust Output Feedback Consensus Protocol for Networked Negative-Imaginary Systems
in IFAC Proceedings Volumes
Carrasco J
(2013)
On multipliers for bounded and monotone nonlinearities
Carrasco J
(2013)
Equivalence between classes of multipliers for slope-restricted nonlinearities
in Automatica
Nagendran A
(2013)
Design, control, and performance of the 'weed' 6 wheel robot in the UK MOD grand challenge
in Advanced Robotics
Mabrok M
(2013)
Enforcing negative imaginary dynamics on mathematical system models
in International Journal of Control
Song Z
(2012)
A negative-imaginary lemma without minimality assumptions and robust state-feedback synthesis for uncertain negative-imaginary systems
in Systems & Control Letters
Mohamed M
(2012)
Design and control of novel tri-rotor UAV
Mabrok M.A.
(2012)
A stability result on the feedback interconnection of negative imaginary systems with poles at the origin
in 2012 2nd Australian Control Conference, AUCC 2012
Osinuga M
(2012)
An iterative algorithm for maximizing robust performance in loop-shaping design
in International Journal of Robust and Nonlinear Control
Osinuga M
(2012)
State-space solution to weight optimization problem in H 8 loop-shaping control
in Automatica
Xiong J
(2012)
Finite Frequency Negative Imaginary Systems
in IEEE Transactions on Automatic Control
Patra S
(2012)
A closed-loop data based test for robust performance improvement in iterative identification and control redesigns
in Automatica
Carrasco J
(2012)
LMI search for rational anticausal Zames-Falb multipliers
Alli-Oke R
(2012)
A Robust Kalman Conjecture For First-Order Plants
in IFAC Proceedings Volumes
Engelken S
(2012)
Revisiting robust stabilization of coprime factors: The general case
Carrasco J
(2012)
Comments on "On the Existence of Stable, Causal Multipliers for Systems With Slope-Restricted Nonlinearities"
in IEEE Transactions on Automatic Control
Carrasco J
(2012)
Factorization of multipliers in passivity and IQC analysis
in Automatica
Xiong J
(2012)
On lossless negative imaginary systems
in Automatica
Mabrok M.A.
(2012)
Locking a three-mirror optical cavity: A negative imaginary systems approach
in 2012 2nd Australian Control Conference, AUCC 2012
Osinuga M.
(2012)
Design and control of a novel unmanned ground vehicle
in ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Crowther B
(2011)
Kinematic Analysis and Control Design for a Nonplanar Multirotor Vehicle
in Journal of Guidance, Control, and Dynamics
Lana D
(2011)
A parameterization of parahermitian matrix functions and its application to a state-space solution for -analysis
in Systems & Control Letters
Carrasco J
(2011)
Factorization of multipliers in passivity and IQC analysis
Osinuga M
(2011)
Weight optimization for maximizing robust performance in H8 loop-shaping design
in IFAC Proceedings Volumes
Mabrok M.A.
(2011)
A negative imaginary lemma for descriptor systems
in Proceedings of the 2011 Australian Control Conference, AUCC 2011
Mabrok M.A.
(2011)
Stability analysis for a class of negative imaginary feedback systems including an integrator
in ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Song Z
(2011)
Robust performance analysis for uncertain negative-imaginary systems
in International Journal of Robust and Nonlinear Control
Lanzon A
(2011)
Robust Performance Improvement Test for Stabilizing Controllers Using Closed-Loop Data
in IFAC Proceedings Volumes
Freddi A
(2011)
A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles
in IFAC Proceedings Volumes
Patra S
(2011)
Stability Analysis of Interconnected Systems With "Mixed" Negative-Imaginary and Small-Gain Properties
in IEEE Transactions on Automatic Control
Mabrok M
(2011)
Spectral Conditions for the Negative Imaginary Property of Transfer Function Matrices
in IFAC Proceedings Volumes
Kara Mohamed M
(2011)
Designing simple indoor navigation system for UAVs
Lanzon A
(2011)
Robust stability and performance analysis for uncertain linear systems-The distance measure approach
in International Journal of Robust and Nonlinear Control
Description | This project advances linear and nonlinear robust control methods (particularly H-infinity methods) in the following three theoretical directions to produce design paradigms that are easier and less conservative to use in practice: (a) Weight optimisation and synthesis - i.e. techniques that assist in the selection of optimal weighting functions; (b) Analysis and synthesis tools for negative imaginary systems; and (c) Non-conservative model embedding and corresponding distance metrics. Experimental applicability studies have also be undertaken on a powered tri-rotor Unmanned Aerial Vehicle (UAV). Such Unmanned Aerial Vehicles are important in applications such as surveillance, reconnaissance and increased border security. Different instrumented test-rigs were constructed during the course of this project and the above theoretic developments were applied on the instrumented UAV test-rigs. |
Exploitation Route | The negative imaginary systems results developed during this grant have significant potential use in nanotechnology and the developed methods are currently being investigated in nanopositioning control of scanning probe microscopes, such as atomic force microscopes, using piezo-electric actuators/transducers and piezotubes. Studies are also currently underway in applying the negative imaginary results developed in this research to 2- or 3-mirror optical cavities for cavity ring down spectroscopy and also in adaptive optics. The weight optimisation results for H-infinity loopshaping developed during this grant have underpinned a new Matlab routine that facilitates robust control systems design and this is now available with standard Matlab releases. The distance measures work has potential use in model validation and non-conservative model embedding and as such is expected to open up new application domains in distributed control, decentralised model order reduction (critical in complex networks), sensor networks and co-operative control. The experimental work has resulted in the development of a new trirotor Unmanned Aerial Vehicle (UAV) concept that has full 6 degrees-of-freedom and exploits vehicle gyroscopics for added robust stability. The robust control strategies developed for this trirotor UAV during this grant have enabled the design of fault tolerant control methods that retain full flight control of unmanned quadrotor vehicles in the case of a rotor loss or failure. This considerably increases the safety of these popular unmanned aerial vehicles and hence brings Autonomous Systems technologies a step closer to being used in civilian everyday scenarios. The work done in this grant was split up into 4 work packages, the first three work packages where theoretical research in nonlinear and linear robust control theory. The results of these three work packages were published in the peer-reviewed literature in 24 journal articles and a separate 25 conference papers. The work done in the fourth experimental work package resulted in the construction of an experimental trirotor Unmanned Aerial Vehicle (UAV) test rig. Exploitation routes for the work done during this grant include: (a) using the negative imaginary systems methods developed during this grant in nanotechnology and nanodevices/nanorobotics; (b) using the weight optimisation work for robust control in developing fast numerical algorithms that facilitate robust control systems design; (c) using the distance metrics work in non-conservative model embedding, in model validation, in sensor networks and in large-scale complex networks; and (d) using the experimental insights developed on the trirotor UAV test rig built during this project to further develop autonomous systems capabilities at high levels of sophistication. |
Sectors | Aerospace, Defence and Marine,Digital/Communication/Information Technologies (including Software),Education,Manufacturing, including Industrial Biotechology |
URL | http://personalpages.manchester.ac.uk/staff/Alexander.Lanzon/ |
Description | The negative imaginary systems results developed during this grant have significant potential use in nanotechnology and the developed methods are currently being investigated in nanopositioning control of scanning probe microscopes, such as atomic force microscopes, using piezo-electric actuators/transducers and piezotubes. Studies are also currently underway in applying the negative imaginary results developed in this research to 2- or 3-mirror optical cavities for cavity ring down spectroscopy and also in adaptive optics. The weight optimisation results for H-infinity loopshaping developed during this grant have underpinned a new Matlab routine that facilitates robust control systems design and this is now available with standard Matlab releases. The distance measures work has potential use in model validation and non-conservative model embedding and as such is expected to open up new application domains in distributed control, decentralised model order reduction (critical in complex networks), sensor networks and co-operative control. The experimental work has resulted in the development of a new trirotor Unmanned Aerial Vehicle (UAV) concept that has full 6 degrees-of-freedom and exploits vehicle gyroscopics for added robust stability. The robust control strategies developed for this trirotor UAV during this grant have enabled the design of fault tolerant control methods that retain full flight control of unmanned quadrotor vehicles in the case of a rotor loss or failure. This considerably increases the safety of these popular unmanned aerial vehicles and hence brings Autonomous Systems technologies a step closer to being used in civilian everyday scenarios. The work done in this grant was split up into 4 work packages, the first three work packages where theoretical research in nonlinear and linear robust control theory. The results of these three work packages were published in the peer-reviewed literature in 24 journal articles and a separate 25 conference papers. The work done in the fourth experimental work package resulted in the construction of an experimental trirotor Unmanned Aerial Vehicle (UAV) test rig. Exploitation routes for the work done during this grant include: (a) using the negative imaginary systems methods developed during this grant in nanotechnology and nanodevices/nanorobotics; (b) using the weight optimisation work for robust control in developing fast numerical algorithms that facilitate robust control systems design; (c) using the distance metrics work in non-conservative model embedding, in model validation, in sensor networks and in large-scale complex networks; and (d) using the experimental insights developed on the trirotor UAV test rig built during this project to further develop autonomous systems capabilities at high levels of sophistication. Research on one UAV prototype funding by this grant was reported in the Flight International Magazine. |
First Year Of Impact | 2012 |
Sector | Aerospace, Defence and Marine,Digital/Communication/Information Technologies (including Software),Education |
Impact Types | Cultural,Societal,Economic |
Description | AVL Powertrain UK Ltd. |
Amount | £2,000 (GBP) |
Funding ID | AVL Powertrain UK Ltd |
Organisation | AVL |
Sector | Private |
Country | Austria |
Start | 01/2009 |
End | 08/2009 |
Description | EPSRC |
Amount | £496,966 (GBP) |
Funding ID | EP/H016600/1 |
Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
Sector | Public |
Country | United Kingdom |
Start | 08/2010 |
End | 03/2014 |
Description | Sellafield Ltd |
Amount | £3,000 (GBP) |
Funding ID | Sellafield Remote Technology Ltd. |
Organisation | Sellafield Ltd |
Sector | Private |
Country | United Kingdom |
Start | 03/2009 |
End | 04/2009 |
Description | UK Government |
Amount | £4,422,259 (GBP) |
Funding ID | Regional Growth Fund, Department for BIS |
Organisation | Government of the UK |
Sector | Public |
Country | United Kingdom |
Start | 09/2012 |
End | 10/2015 |
Description | UMIP Ltd. Intellectual Property Premier Fund |
Amount | £25,000 (GBP) |
Funding ID | Premier Fund |
Organisation | UMIP Premier Fund Ltd |
Sector | Private |
Country | United Kingdom |
Start | 06/2011 |
End | 11/2011 |
Description | UMIP Ltd. Proof-of-Principle Fund |
Amount | £90,137 (GBP) |
Funding ID | Proof-of-Principle Fund |
Organisation | UMIP Premier Fund Ltd |
Sector | Private |
Country | United Kingdom |
Start | 04/2009 |
End | 02/2010 |
Description | University of Manchester |
Amount | £17,330 (GBP) |
Funding ID | Faculty Strategic Funds (competitive) |
Organisation | University of Manchester |
Sector | Academic/University |
Country | United Kingdom |
Start | 11/2011 |
End | 07/2012 |
Description | University of Manchester |
Amount | £62,600 (GBP) |
Funding ID | Faculty Strategic Funds (competitive) |
Organisation | University of Manchester |
Sector | Academic/University |
Country | United Kingdom |
Start | 11/2011 |
End | 07/2012 |