Robust H∞ Control Design of High-Wire Walker

Parametric uncertainty is a significant challenge in thedesign of control systems. This paper describes the designof a robust H∞ controller for the Quanser® high-wirewalker (artist). Despite the fact that many alternativecontrol systems (linear and non-linear) have beenemployed on the high-wire walker, this particular setupcombined with linear robust controllers has received lessattention from researchers in the literature. In this article,the state space equations of the system are determinedusing the Lagrange technique, and then a robust H∞controller is designed. To evaluate the robust system, theproposed controller is compared to an optimal LQRcontroller using closed-loop simulations in both nominaland uncertain scenarios. The simulation results show thatthe robust controller meets the performance criterion inboth ideal and perturbed conditions in a more suitable wayin terms of tracking error and settling time.

Keywords:

Linear System , 𝐻∞ Robust Control , OptimalControl , High-wire Walker.