Constrained Optimal Preview Control of Dual-Stage Actuators

Saltón, Aurélio T.; Chen, Zhiyong; Zheng, Jinchuan; Fu, Minyue

doi:10.1109/tmech.2015.2496343

Cited by 25 publications

(12 citation statements)

References 10 publications

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“…As a typical regulator method, the linear quadratic regulator optimal control is a powerful technique for designing preview controllers [8][9][10]. In [8], a preview-based linear quadratic design method was investigated for reference-tracking motion control.…”

Section: Introductionmentioning

confidence: 99%

“…In [9], a preview control using a feedforward-imperfect forecast measurement of a disturbance signal was proposed, in the context of discrete-time linear quadratic Gaussian control. In [10], the constrained optimal preview control of dual-stage actuators was proposed, and the problem was solved in terms of quadratic programming. In [11], using the reference and disturbance signal preview information, an optimal feed-forward preview controller was presented for single-input single-output systems.…”

Section: Introductionmentioning

confidence: 99%

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Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

2019

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In this paper, a robust guaranteed-cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, a repetitive controller, combined with preview compensator, is inserted in the forward channel. By using the L-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed-cost preview repetitive control problem is transformed into a guaranteed-cost control problem for the augmented dynamic system. For a given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by using a parameter-dependent Lyapunov function method and linear matrix inequality (LMI) techniques. Incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included, to show the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

2019

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“…In [8], to track triangular reference, the LQR optimal control with preview compensation for a dual-stage actuator system was proposed. In [9], the constrained optimal preview control of dual-stage actuators was proposed and the problem was solved in terms of quadratic programming providing an optimal solution with respect to a quadratic criterion. In [10], by using the reference and disturbance signal's preview information to calculate the control input, an optimal feed-forward preview controller was presented for single-input single-output systems.…”

Section: Introductionmentioning

confidence: 99%

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Lan¹,

Xia²

2018

Preprint

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A robust guaranteed cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, the repetitive controller combined with preview compensator is inserted in the forward channel. By using the L-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed cost preview repetitive control problem is transformed into the guaranteed cost control problem for the augmented dynamic system. For given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by combining parameter-dependent Lyapunov function method with linear matrix inequality (LMI) techniques. By incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included to show the effectiveness of the proposed method.

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“…In past years, this was not a solution typically implemented in mechatronic systems, due to the high computational burden that optimization problems usually carry with them. However, thanks to recent developments in optimization algorithms (especially in the field of convex optimization [19]) and to the availability of more powerful microprocessors, the application of embedded optimization in mechatronics and robotics is becoming a reality, as testified, among others, in the recent works [20]- [24]. This paper introduces a framework for constraint-aware real-time SPM position control: the main objective is to acquire an external reference orientation for the top mobile platform of the manipulator, and then track it while avoiding self-collisions and singular configurations.…”

Section: Introductionmentioning

confidence: 99%

Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization

Taunyazov

Rubagotti

Shintemirov

2018

IEEE/ASME Trans. Mechatron.

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Abstract-This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is to define a reference position for the SPM that remains as close as possible to the ideal reference (i.e., the one for which the top mobile platform has the desired orientation), at the same time keeping the SPM within the set of configurations in which collisions between links and singular configurations are avoided (the so-called feasible workspace). The proposed approach relies on a recently introduced method for obtaining unique inverse kinematics for SPMs, and on a newly proposed method for generating an approximation of the feasible workspace suitable for fast online optimization. The proposed control scheme is experimentally tested on an Agile Wrist SPM prototype, confirming the performance expected from the theoretical formulation.

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Constrained Optimal Preview Control of Dual-Stage Actuators

Cited by 25 publications

References 10 publications

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization

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