Final-State Control Algorithm with Overshoot/Undershoot Prevention Technique for a Connection Control Problem

Abstract

This paper proposes a method to prevent overshoot and undershoot (OS/US) problems for final-state control (FSC) and updating final-state control (UFSC). The FSC is an optimal feedforward control technique to drive a dynamic system to a specified state in a specific time period by an external input. The UFSC is a version of FSC that is modified to deal with a varying final state by updating the FSC control input at each sample. However, both FSC and UFSC algorithms do not guarantee that no overshoot or undershoot occurs in the transient state between the initial state and the final state. This paper proposes an OS/US prevention technique via tuning the FSC or UFSC activated time. The technique is developed by adding a constraint that all the FSC or UFSC control input should be in the same direction. In this paper, the effectiveness of the algorithm is verified by simulations for a plural-cart connection problem.

Recent advances and outlook in industrial instrumentation and mechatronics control

“…Another important control technology was proposed by Hara et al ., who examined a final state control (FSC) algorithm for a plural‐cart connection process . This was a core technology based on feed‐forward in mechatronics that prevented overestimation and underestimation of connection motion.…”

An integral variable structure control scheme for non-overshooting responses

“…2 In plural-cart connection problem, overshooting motions during connection would cause carts to collide with each other or crash in the front and should be avoided to ensure a smooth connection. 3 Also, it is tremendously important to avoid overshoot in controlling a robot arm or machine tool. 4 Several modifications to PID-controlled systems have been proposed to alleviate output overshoot while retaining integral compensation, such as PID control with set-point weighting, 5 model-following PID control, 6 and integral-plus-proportional-derivative (I-PD) control.…”