Frequency-Domain Data-Driven Position-Dependent Controller Synthesis for Cartesian Robots

Abstract

Cartesian robots have position-dependent dynamics that must be taken into account for highperformance applications. Traditional methods design Linear Time-Invariant (LTI) controllers that are robustly stable with respect to position variations, but result in reduced performance. Advanced methods require Linear Parameter Varying (LPV) models and LPV controller design methods that are not well-established in the industry. On the other hand, the classical model-based gain-scheduled technique involves parametric identification, high-performance controller design for each position, interpolation of the controller parameters, and real-time controller validation, making it time-consuming and costly. Our approach uses frequency response at different operating points to design an LPV controller using a convex optimization algorithm based on second-order cone programming. The approach is applied to an industrial 3-axis Cartesian robot, showing significant improvements over state-of-the-art control design strategies. Data acquisition and controller design can be performed automatically, reducing significantly the engineering costs for controller synthesis.

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

“…To design a controller for a given control performance criterion, the data-driven approach presented in [18] can be used. A generalised LTI system, mapping exogenous disturbances d ∈ R n d and control inputs u ∈ R nu to performance channels z ∈ R nz and measurements y ∈ R ny is given as follows:…”

“…When the initial controller K c is known to be stabilising, it can be shown using [18] that the controller K is also stabilising. For a stable plant G 22 , a controller with a sufficiently small gain can in general stabilise the closedloop system.…”