Hiermit versichere ich, die vorliegende Bachelor-Thesis ohne Hilfe Dritter nur mit den angegebenen Quellen und Hilfsmitteln angefertigt zu haben. Alle Stellen, die aus Quellen entnommen wurden, sind als solche kenntlich gemacht. Diese Arbeit hat in gleicher oder ähnlicher Form noch keiner Prüfungsbehörde vorgelegen.

[Abstract] An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control lo...

In this paper, a state feedback H¥ controller is proposed in order to design an active queue management (AQM) system based on congestion control algorithm for networks supporting TCP protocols. In this approach, the available link bandwidth is modeled as a time-variant disturbance. The purpose of this paper is to design a controller which is capable of achieving the queue size and can guarantee...

This paper considers the synthesis of non-fragile H∞ state feedback controllers for singular systems and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile H∞ controller, and the measure of non-fragility in controller are presented via LMI(linear matrix inequality) technique. Also, through singular...

A nonlinear attitude model of a satellite with thrusters, gravity torquers and a reaction wheel cluster is developed. Then the linearized version of this satellite attitude model is derived for the attitude hold mode. For comparison purpose, various control methods are considered for attitude control of a satellite. We consider a proportional derivative controller which is actually used in the ...

One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...

Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...

This paper presents H∞ control problem for input-delayed systems. A neutral system approach is considered to the design of PD controller for input delay systems in presence of uncertain time-invariant delay. Using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. The significant specification of this neutral system is that its delayed coeff...

In this paper, a switching strategy is employed to solve the H2/H∞ multi objective controller design. Two controllers are designed to meet the H2 and H∞ performance specifications. Linear matrix inequalities are used in the controller design process. New switching signal is defined which is the combination of dwell time switching signal and multiple Lyapunov function such that stability of clos...

This paper addresses the distributed H2 and H∞ control problems for multi-agent systems with linear or linearized dynamics. An undirected multigraph with loops is used to represent the communication topology of a multi-agent network. A distributed controller is designed, based on the relative states of neighboring agents and a subset of absolute states of the networked agents. The notions of H∞...