Discrete-Time LQR and H 2 Damping Control of Flexible Payloads Using a Robot Manipulator With a Wrist-Mounted Force/Torque Sensor

2000 ◽  
Author(s):  
Chunhao Joseph Lee ◽  
Constantinos Mavroidis
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Robot Manipulator ◽  
Control Design ◽  
Degree Of Freedom ◽  
Flexible Beam ◽  
Torque Sensor ◽  
Damping Control ◽  
Control Feedback ◽  
Six Degree Of Freedom

Abstract This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-of-freedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-of-freedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively.

Optimal Control of Turbine Engines

1979 ◽  
Vol 101 (2) ◽  
pp. 117-126 ◽  
Author(s):  
R. L. DeHoff ◽  
W. Earl Hall
Keyword(s):  
Optimal Control ◽  
Optimal Design ◽  
Control Design ◽  
Multivariable Control ◽  
Turbine Engines ◽  
Linear Modeling ◽  
Turbofan Engine ◽  
Turbine Engine ◽  
Design Procedures ◽  
Modeling Techniques

Multivariable control design for turbine engines has been studied for over 20 years. In the last 10 years, the application of linear, optimal design techniques has produced a number of turbine engine controllers. A group of these design procedures is described and a discussion of the procedures’ performance, complexity and implementation is presented. The design of a full-envelope controller for the F100 turbofan engine based on linear, optimal synthesis and locally linear modeling techniques is discussed. A perspective of optimal control design for turbine engines is presented and the future is examined.

Optimal control design for Modular Multilevel Converters operating on multi-terminal DC Grid

2016 ◽  
Author(s):  
Mohamed Moez Belhaouane ◽  
Julian Freytes ◽  
Mohamed Ayari ◽  
Frderic Colas ◽  
Franois Gruson ◽  
...  
Keyword(s):  
Optimal Control ◽  
Control Design ◽  
Multilevel Converters ◽  
Modular Multilevel Converters
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