Analysis of open-loop control design and parallel computation for underactuated manipulators

In this paper, randomized algorithms are used to design an open-loop control for a clutch-to-clutch shift automatic transmission and to study the robustness of that control. The open-loop control design problem can be posed as an optimal control problem but because of the computational cost associated with each simulation and the complexity of the transmission model, classical results from optimal control theory are not a practically feasible approach for this problem. We apply randomized search algorithms for optimization to these problems and present some promising results.

Download Full-text

Open-loop control design via parametrization applied in a two-level quantum system model

2010 4th International Symposium on Communications, Control and Signal Processing (ISCCSP) ◽

10.1109/isccsp.2010.5463441 ◽

2010 ◽

Author(s):

Markku Nihtila

Keyword(s):

Quantum System ◽

Control Design ◽

Open Loop ◽

System Model ◽

Open Loop Control ◽

Loop Control

Download Full-text

Multi-DOF compensation of piezoelectric actuators with recursive databases

at - Automatisierungstechnik ◽

10.1515/auto-2017-0136 ◽

2018 ◽

Vol 66 (8) ◽

pp. 656-664 ◽

Cited By ~ 1

Author(s):

Christopher Schindlbeck ◽

Christian Pape ◽

Eduard Reithmeier

Keyword(s):

Tracking Control ◽

Control Design ◽

Cross Coupling ◽

Piezoelectric Actuators ◽

Nonlinear Effects ◽

Open Loop ◽

Degree Of Freedom ◽

Decoupling Control ◽

Open Loop Control ◽

Loop Control

Abstract Piezoelectric actuators are subject to nonlinear effects when voltage-driven in open-loop control. In particular, hysteresis and creep effects are dominating nonlinearities that significantly deteriorate performance in tracking control scenarios. In this paper, we present an online compensator suitable for piezoelectric actuators that is based on the modified Prandtl-Ishlinskii model and utilizes recursive databases for the compensation of nonlinearities. The compensator scheme is furthermore extended to systems with more than one degree of freedom (DOF) such as Cartesian manipulators by employing a decoupling control design to mitigate inherent cross-coupling disturbances. In order to validate our theoretical derivations, experiments are conducted with coupled trajectories on a commercial 3-DOF micro-positioning unit driven by piezoelectric actuators.

Download Full-text

Motion planning and open loop control design for linear distributed parameter systems with lumped controls

International Journal of Control ◽

10.1080/00207170701561435 ◽

2008 ◽

Vol 81 (3) ◽

pp. 457-474 ◽

Cited By ~ 26

Author(s):

J. Rudolph ◽

F. Woittennek

Keyword(s):

Motion Planning ◽

Control Design ◽

Distributed Parameter Systems ◽

Open Loop ◽

Distributed Parameter ◽

Open Loop Control ◽

Loop Control

Download Full-text

Quiet Seating Control Design of an Electromagnetic Engine Valve Actuator

10.1115/imece2001/dsc-24520 ◽

2001 ◽

Author(s):

Chun Tai ◽

Tsu-Chin Tsao

Keyword(s):

Control Design ◽

Tail Length ◽

Open Loop ◽

Open Loop Control ◽

Loop Control ◽

Engine Valve ◽

Electromagnetic Valve ◽

Valve Motion ◽

Seating Position ◽

Variable Valve

Abstract The control of engine valve seating velocity has been identified to be crucial for the application of an electromagnetic valve (EMV) actuator for camless variable valve timing engine operations. Analysis shows that the EMV actuator becomes unstable when the engine valve is hold steady close to the seating position. As such, valve motion under open loop control is sensitive to disturbances and suffers poor repeatability. Therefore, closed-loop control is required to achieve desirable quiet-seating performance consistently. A linear plant model was constructed based on a gray-box approach that combines mathematical modeling and system identification. A controller was developed with H∞ loop-shaping method to stabilize the EMV actuator. The performance of this control design is demonstrated by experimental results. “Seating velocity” and “seating tail-length” are defined and used to evaluate the control system performance.

Download Full-text