Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example

2002 ◽  
Vol 124 (4) ◽  
pp. 704-709 ◽  
Author(s):  
Jin-Hua She ◽  
Xin Xin ◽  
Yasuhiro Ohyama
Keyword(s):  
Tracking Control ◽  
Controller Design ◽  
Design Method ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Linear Matrix ◽  
Sampled Data ◽  
Feedforward Controller ◽  
Two Degree Of Freedom ◽  
Digital Tracking

A design method for digital tracking control is described and applied to control an arm robot with structured uncertainties. A two-degree-of-freedom control system configuration provides the desired feedback and input-output performances independently. Regarding controller design, first, sampled-data H∞ control and linear matrix inequality approaches are used to design a reduced-order output feedback controller. Then, the feedforward controller is parameterized based on the feedback controller, with the free parameter being chosen based on a preview strategy.

A Design Method of TDOF Controller for Sampled-Data Control System: A Method Using Dynamical Model of Feedback Controller

1999 ◽  
Author(s):  
Mitsuo Hirata ◽  
Akiyo Murase ◽  
Takenori Atsumi ◽  
Kenzo Nonami
Keyword(s):  
Control System ◽  
Design Method ◽  
Feedback Controller ◽  
Dynamical Model ◽  
Sampled Data ◽  
System A ◽  
Data Control ◽  
Sampled Data Control ◽  
Model Transfer ◽  
Two Degree Of Freedom

Abstract It has been proposed the design method of the two-degree-of-freedom (TDOF) controller which use the dynamical model of the feedback controller. In this study, we apply this design method to the sampled-data control system. The TDOF controller is obtained so that the output of the TDOF system follows the output of the model transfer function considering the intersample behaviors.

scholarly journals H∞Optimal Inversion Feedforward and Robust Feedback Based 2DOF Control Approach for High Speed-Precision Positioning Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Chao Peng ◽  
Chongwei Han ◽  
Jianxiao Zou ◽  
Guanghui Zhang
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Positioning Error ◽  
Precision Positioning ◽  
Positioning Systems ◽  
Control Approach ◽  
Lmi Optimization ◽  
Feedforward Controller

This paper proposed a novelH∞optimal inversion feedforward and robust feedback based two-freedom-of-freedom (2DOF) control approach to address the positioning error caused by system uncertainties in high speed-precision positioning system. To minimize theH∞norm of the positioning error in the presence of model uncertainty, a linear matrix inequality (LMI) synthesis approach for optimal inversion feedforward controller design is presented. The specification of position resolution, control width, robustness, and output signal magnitude imposed on the entire 2DOF control system are taken as optimization objectives of feedback controller design. The robust feedback controller design approach integrates with feedforward controller systematically and is obtained via LMI optimization. The proposed approach was illustrated through a simulation example of nanopositioning control in atomic force microscope (AFM); the experiment results demonstrated that the proposed 2DOF control approach not only achieves the performance specification but also could improve the positioning control performance compared withH∞mixed sensitivity feedback control and inversion-based 2DOF control.

Robust Control of a Flexible Arm

1994 ◽  
Vol 6 (3) ◽  
pp. 214-219
Author(s):  
Kang-Zhi Liu ◽  
◽  
Koji Higaki ◽  
Tsutomu Mita
Keyword(s):  
Robust Control ◽  
Control Theory ◽  
Vibration Control ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Matching Method ◽  
Robust Controller ◽  
Flexible Arm ◽  
Feedforward Controller ◽  
Two Degree Of Freedom

This paper addresses the vibration control of a flexible arm with a two-degree-of-freedom robust controller. The feedback controller is designed by <I>H</I>∞ control theory to achieve robust distrubance attenuation, and the feedforward controller is designed by a signal-matching method to improve the trasient response. An experiment verifies that this methodology is effective.

Tracking control for the helicopter with time-varying disturbance and input stochastic perturbation

2019 ◽  
Vol 234 (4) ◽  
pp. 961-976
Author(s):  
Yankai Li ◽  
Mou Chen ◽  
Tao Li ◽  
Huijiao Wang
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Controller Design ◽  
Stochastic Perturbation ◽  
Linear Matrix ◽  
Time Varying ◽  
Inequality Technique ◽  
Error System ◽  
Feedforward Controller ◽  
The Stability

In this paper, the tracking control problem is investigated for the helicopter under time-varying disturbance, input stochastic perturbation, and unmeasurable flapping motion states. Firstly, a state observer and a disturbance observer are constructed to estimate the unmeasurable states and the time-varying disturbance, and the estimation of the disturbance is used in the feedforward controller design. Secondly, under the input stochastic perturbation, a feedback controller is constructed to guarantee the stochastic stability of the closed-loop error system. Using the stochastic control theory and the linear matrix inequality technique, the stability of the closed-loop error system is analyzed, and the gain of the controller is acquired via a solvable sufficient condition. Finally, an example is presented to illustrate the effectiveness of the proposed method.

scholarly journals Two-degree-of-freedom control of a multilink flexible manipulator using filtered inverse feedforward controller and strain feedback controller

2019 ◽  
Keyword(s):  
Research Paper ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Flexible Manipulator ◽  
Transient Vibration ◽  
Rapid Decay ◽  
Hybrid Solution ◽  
Manipulator Arm ◽  
Feedforward Controller ◽  
Two Degree Of Freedom

This research paper presents a hybrid solution to both residue vibration and transient vibration as addressed using filtered inverse feedforward controller and strain feedback controller on a 3D 2 links flexible manipulator. The feedforward filtered inverse will minimize on the transient vibration due to sudden starting followed sudden stopping of the manipulator arm while the strain feedback will ensure rapid decay of the residue vibrations. Transient and residue vibrations stand in the way to reaping all the numerous advantages of the flexible manipulator. Transient vibration refers to vibrations resulting from sudden changes in the direction of the links while residue vibrations means that the arm takes too long to settle to do some useful work. Modelling of the manipulator and development of the inverse controller was carried out in Maple, MapleSim and MATLAB softwares. Experiments carried out in dSPACE control desk environment considering the manipulator without load and a case where a load of 100g was attached at the distal end of link 2.

Robust H2 Output Feedback Controller Design for Damping Power System Oscillations

2017 ◽  
Vol 6 (10) ◽  
pp. 8
Author(s):  
Kho Hie Kwee ◽  
Hardiansyah .
Keyword(s):  
Power System ◽  
Output Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Worst Case ◽  
Output Feedback Controller ◽  
Power System Oscillations

This paper addresses the design problem of robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers with norm-bounded parameter uncertainties are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) power system. The LMI based control ensures adequate damping for widely varying system operating.

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