Konghuayrob, Poom
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Item type:Publication, Decentralised and Centralised Fixed Structure H∞ Robust Loop Shaping for the MIMO Microsurgical Manipulation Based on PSOGSA(2026-01-01); ; Aoyama, HisayukiThis paper presents decentralised and centralised fixed-structure H∞ robust control methods optimised by the Particle Swarm Optimisation and Gravitational Search Algorithm (PSOGSA) for a coupled multi-input multi-output (MIMO) microsurgical manipulator. The design framework explicitly considers uncertainties and disturbance constraints. Conventional H∞ loop-shaping controllers are typically of high order, complex, and difficult to implement in practice. To address this limitation, Proportional-Integral-Derivative (PID)-structured decentralised and centralised H∞ controllers are proposed, providing compact structures while retaining robustness. The novelty of this work lies in embedding H∞ robustness criteria into practical PID-based frameworks, bridging the gap between theoretical robust design and experimental implementation in microsurgical applications. The proposed controllers are evaluated against a reduced-order H∞ controller derived from Hankel norm approximation and a Ziegler–Nichols tuned PID controller, using both simulation and experimental studies. Results demonstrate that the proposed controllers achieve improved stability margins (0.449–0.521 compared with 0.436 for the reduced-order design), maintain low root-mean-square errors (≈0.067–0.089) and remain robust under voltage disturbances where conventional PID control fails. These findings confirm the contribution of a practical and efficient robust control strategy for enhancing the precision and reliability of microsurgical manipulators. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Hybrid adaptive notch filter and fixed-structure pid H ∞ robust loop shaping control based pso for hard disk drive servo actuator(2019-02-01); ; Aoyama, HisayukiIn order to achieve the high precision head-positioning of the voice coil motor (VCM) actuator with narrow track pitch, the adaptive notch filter based limited-search-range of particle swarm optimization (PSO), as well as the fixed-structure propor-tional-integral-derivative H <inf>∞</inf> robust loop shaping controller using the concept of four closed loop disturbance norms is proposed. Generally the conventional method, fixed-frequency notch filter (FFNF), is combined with the nominal plant to reduce the effect of the mechanical vibration resonance; however, the resonance mode of servo system can be shifted with various factors such as the ambient temperature change, and the unbalanced disk. In addition, mathematical solving in the H <inf>∞</inf> robust control problems and the suitable notch filter design are very complex and the final results of the conventional controller with notch filters are normally complicated structure and high order which is difficult to implement. Thus, the adding of intelligent system in the proposed design with the careful range of the search space is utilized to suppress the vibration caused by resonance mode shifting and also reduce the order of the final robust controller. Simulation results of six scenarios test demonstrate the effectiveness of the proposed design compared with FFNF in the commercial product. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Robot arm structure design using polyamide evaluated by finite element analysis(2020-01-01); 1