Guaranteed cost design for model-based cyber-physical assembly: a convex optimization approach
Abstract
Purpose
The purpose of this paper is to propose a guaranteed cost control design procedure for model-based cyber–physical assembly (CPA) systems. To reflect the cyber–physical environment, the network-induced delays and disturbances are introduced in the mathematical model.
Design/methodology/approach
Based on the linear matrix inequality approach, the guaranteed cost controller is designed such that the guaranteed cost can be satisfied and the corresponding convex optimization algorithm is provided. Moreover, H-infinity theory is used to deal with the disturbance with the given H-infinity attenuation level.
Findings
By constructing appropriate Lyapunov–Krasovskii functionals, delay-dependent sufficient conditions are established in terms of linear matrix inequalities and the controller design procedure is given.
Originality/value
A simplified CPA model is given based on which the designed controller can allow us to control the closed-loop CPA systems with the guaranteed cost.
Keywords
Acknowledgements
The authors would like to thank anonymous reviewers for their valuable comments and suggestions, which allowed us to improve the paper. This work was partially supported by the National Natural Science Foundation of China (NO.61304108), the Project of the Specialized Research Fund for Doctoral Program of the University in China (No. 20132322120003), the Reserve Talents of Universities Overseas Research Program of Heilongjiang [No. HEIGAOJIAO (2013)350] and Youth Academic Backbone Project of University in Heilongjiang Province (No. 1253G012).
Citation
Liu, B. (2016), "Guaranteed cost design for model-based cyber-physical assembly: a convex optimization approach", Assembly Automation, Vol. 36 No. 3, pp. 217-223. https://doi.org/10.1108/AA-11-2015-098
Publisher
:Emerald Group Publishing Limited
Copyright © 2016, Emerald Group Publishing Limited