An Optimization-Based Framework for Simultaneous Plant-Controller Redesign

16th Design Automation Conference: Volume 2 — Optimal Design and Mechanical Systems Analysis ◽

10.1115/detc1990-0060 ◽

1990 ◽

Author(s):

Robert Beyers ◽

Subhas Desa

Keyword(s):

Performance Improvement ◽

Closed Loop ◽

Optimization Problems ◽

Dynamic Performance ◽

Mechanical Systems ◽

Loop System ◽

Closed Loop System ◽

Central Notion ◽

Computer Controlled

Abstract In this paper we develop a framework for the redesign of computer-controlled, closed-loop, mechanical systems for improved dynamic performance. A central notion which underlies the redesign framework is that, in order to achieve the best possible performance from a constrained closed-loop system, the plant and controller should be designed simultaneously. The framework is presented as the formulation and solution of a progression of optimization problems which enable the designer to systematically establish the various redesign possibilities. An example clearly demonstrates the underlying ideas as well as the use of the redesign framework for performance improvement.

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An Optimization-Based Framework for Simultaneous Plant-Controller Redesign

Journal of Mechanical Design ◽

10.1115/1.2919392 ◽

1994 ◽

Vol 116 (2) ◽

pp. 396-404 ◽

Cited By ~ 2

Author(s):

R. Beyers ◽

S. Desa

Keyword(s):

Dynamic System ◽

Optimization Problem ◽

Closed Loop ◽

Optimization Problems ◽

Dynamic Performance ◽

Loop System ◽

Nonlinear Controller ◽

Closed Loop System ◽

Central Notion ◽

Computer Controlled

In this paper we develop a framework for the redesign of computer-controlled, closed-loop, mechanical systems for improved dynamic performance. A central notion which underlies the redesign framework is that, in order to achieve the best possible performance from a constrained closed-loop system, the plant and controller should be designed simultaneously. The framework is presented as the formulation and solution of a progression of optimization problems which establish the limits of performance of the dynamic system under various conditions of interest, thereby enabling the engineer to systematically establish the various redesign possibilities. Using a second order linear dynamic system and a nonlinear controller as an example, we demonstrate the application of the framework and substantiate the idea that in order to achieve the best possible performance from a constrained closed-loop system, the plant and controller should be redesigned simultaneously. We then show how the redesign framework can be used to select the best control strategy for a robotic manipulator from a dynamic performance standpoint. Finally, in order to demonstrate that the redesign framework yields solutions which the engineer can implement with confidence, we present the experimental verification of the numerical solution of a manipulator redesign optimization problem.

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A Versatile, Computer-Controlled, Closed-Loop System for Continuous Infusion of Muscle Relaxants

Mayo Clinic Proceedings ◽

10.1016/s0025-6196(12)60901-x ◽

1993 ◽

Vol 68 (11) ◽

pp. 1074-1080 ◽

Cited By ~ 8

Author(s):

SAIED J. ASSEF ◽

ROBERT L. LENNON ◽

KEITH A. JONES ◽

MICHAEL J. BURKE ◽

TERRENCE L. BEHRENS

Keyword(s):

Continuous Infusion ◽

Closed Loop ◽

Muscle Relaxants ◽

Loop System ◽

Closed Loop System ◽

Computer Controlled

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A VERSATILE COMPUTER-CONTROLLED CLOSED-LOOP SYSTEM FOR CONTINUOUS INFUSION OF MUSCLE RELAXANTS

Anesthesiology ◽

10.1097/00000542-199109001-00466 ◽

1991 ◽

Vol 75 (3) ◽

pp. A467-A467 ◽

Cited By ~ 1

Author(s):

S. J. Assef ◽

K. A. Jones ◽

R. L. Lennon ◽

M. J. Burke ◽

T. L. Behrens

Keyword(s):

Continuous Infusion ◽

Closed Loop ◽

Muscle Relaxants ◽

Loop System ◽

Closed Loop System ◽

Computer Controlled

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Passivity-Based Stabilization of Underactuated Mechanical Systems

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.421.16 ◽

2013 ◽

Vol 421 ◽

pp. 16-22

Author(s):

Shan Shan Wu ◽

Wei Huo

Keyword(s):

Closed Loop ◽

Control Method ◽

Controller Design ◽

Design Method ◽

Mechanical Systems ◽

Matching Condition ◽

Loop System ◽

Closed Loop System ◽

Underactuated Mechanical Systems ◽

Stabilization Control

A new stabilization control method for underactuated linear mechanical systems is presented in this paper. By proper setting the desired closed-loop system, the matching condition for controller design is reduced to one equation and an adjustable parameter (damping coefficient) is introduced to the controller. Stability of the closed-loop system is proved based on passivity. As an application example, stabilization control of 2-DOF Pendubot is studied. The system is linearized at its equilibrium point and the proposed controller design method is applied to the linearized system. The procedure of solving matching condition and design controller for the Pendubot is provided. The simulation results verify feasibility of the proposed method.

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Passivity-Based Tracking Control Design for Underactuated Mechanical Systems

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.591-593.1225 ◽

2012 ◽

Vol 591-593 ◽

pp. 1225-1230 ◽

Cited By ~ 1

Author(s):

Shan Shan Wu ◽

Wei Huo

Keyword(s):

Tracking Control ◽

Closed Loop ◽

Controller Design ◽

Design Method ◽

Mechanical Systems ◽

Matching Condition ◽

Loop System ◽

Closed Loop System ◽

Underactuated Mechanical Systems ◽

Design Procedures

Passivity-based tracking control of the underactuated linear mechanical systems is investigated in this paper. As our main contribution, the matching condition is decreased into two equations and an adjustable gain (damping gain) is introduced into the controller by setting the desired closed-loop system properly. Stability of the closed-loop system is proved based on passivity of the system. Furthermore, as examples, tracking control of 2-DOF Acrobot and 2-DOF Pendubot are studied. The systems are linearized at their equilibriums and the passivity-based controller design method is applied to the linearized systems. Matching conditions are solved and the design procedures of associate controllers for the two robots are provided. The simulation results show that the designed controllers can realize asymptotical tracking for the given desired trajectories.

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Non-linear multivariable flight control of aircraft

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1243/0954410981532207 ◽

1998 ◽

Vol 212 (2) ◽

pp. 137-144 ◽

Cited By ~ 7

Author(s):

S E Lyshevski

Keyword(s):

Flight Control ◽

Closed Loop ◽

Dynamic Performance ◽

Optimization Procedure ◽

Loop System ◽

Closed Loop System ◽

Bounded Control ◽

Performance Improvements ◽

Non Linear ◽

Linear Differential

Innovative design methods are needed for advanced aircraft in response to requirements towards substantial performance improvements. Functionally and operationally, the aircraft must be considered as the highly coupled non-linear multi-input multi-output system, i.e. the aerodynamics have to be mapped by non-linear differential or difference equations. To improve flying and handling qualities, to increase manœuvrability and to expand the operating envelope, an innovative optimization procedure is developed to design the constrained controllers for multi-input multi-output aircraft. In particular, a bounded control law is synthesized by employing the Hamilton-Jacobi theory, and the admissibility concept is used to study the stability of the resulting closed-loop system. The developed optimization procedure is applied to a non-linear ninth-order model of an AFTI/F-16 aircraft. A bounded controller is designed, and modelling results are presented to demonstrate the dynamic performance of the resulting closed-loop system.

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