LQ bumpless transfer between two tracking controllers

Qin, Guozheng; Duan, Zhisheng; Chen, Guanrong

doi:10.1080/00207179.2012.693203

Cited by 12 publications

(6 citation statements)

References 18 publications

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“…This undesired behavior can lead to plant instability, output saturation, or system damage. Many structures have been proposed in the field of hybrid control to ensure bumpless switching between controllers, such as integral structure between the controllers and the plant [16], feedback loop to control the output of the offline controllers [17], multicontroller structure [18], resetting approach of the state of the offline controller at the time of the switch [19], and antiwindup scheme [20]. An integral action after the switch [16], [21] is easy to implement and guarantees zero signal error, but it constraints the controller design.…”

Section: Introductionmentioning

confidence: 99%

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Cailliez

Liang

Régnier

2021

IEEE Trans. Contr. Syst. Technol.

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This article deals with a novel hybrid control of an atomic force microscope (AFM) for the robust characterization of interaction tip/sample force regions. The hybrid structure is composed of several position and force controllers and a specific switch compensation structure. A single selected controller is online at a time, and a robust bumpless switch between different control laws is designed. The objectives are the robustness of each controller and switch compensator with respect to uncertain parameters of the AFM. The method uses discrete points in the range of uncertainties. For each operating point, the hybrid controller is designed by an eigenstructure assignment. The method is generalized by a multimodel approach considering only uncertainties defined by a worst-case analysis, thus reducing the conservatism. The order of the controller is related to the number of observers selected by the user. This offers the possibility to design a low-order controller depending on the control specifications. The experimental results demonstrate the effectiveness of the hybrid controller for a fully automated landing procedure of the AFM tip on a sample surface and for force distance curve cycle characterization. Thanks to the robustness of the control method, landing and cycles are reproducible despite actuator uncertainties, friction variation due to aging, and instrumental issues such as the real-time data acquisition.

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Section: Introductionmentioning

confidence: 99%

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Cailliez

Liang

Régnier

2021

IEEE Trans. Contr. Syst. Technol.

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“…One approach to transient management in switched systems is termed "bumpless transfer," which is a transient management strategy that aims to maintain a smooth output response in the presence of abrupt changes in the control or filter implementation; see, for example [8], [9], and [10]. In essence, the bumpless transfer technique uses various methods to compute the appropriate initial conditions for the new algorithm that would match the output of the old algorithms over some time interval.…”

Section: Introductionmentioning

confidence: 99%

Speculative Thread Framework for Transient Management and Bumpless Transfer in Reconfigurable Digital Filters

Giardino¹,

Maxwell²,

Ferri³

et al. 2018

2018 Annual American Control Conference (ACC)

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There are many methods developed to mitigate transients induced when abruptly changing dynamic algorithms such as those found in digital filters or controllers. These "bumpless transfer" methods have a computational burden to them and take time to implement, causing a delay in the desired switching time. This paper develops a method that automatically reconfigures the computational resources in order to implement a transient management method without any delay in switching times. The method spawns a speculative thread when it predicts if a switch in algorithms is imminent so that the calculations are done prior to the switch being made. The software framework is described and experimental results are shown for a switching between filters in a filter bank.

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“…In the last decade, the study of bumpless transfer has attracted considerable attention. The optimal linear quadratic schemes are proposed in Turner and Walker (2000) and Qin et al (2012), in which the minimization of the output difference between the two controllers to be switched is realized by optimizing a designed index. The Min/Max strategy given by Montazeri-Gh and Jafari (2011) can achieve the bumpless transfer of control input through comparing the controllers’ output values.…”

Section: Introductionmentioning

confidence: 99%

Observer-based bumpless switching control for switched linear systems with sensor faults

2017

Transactions of the Institute of Measurement and Control

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This paper investigates the bumpless transfer problem of switched linear systems with sensor faults. The framework of the switched control systems includes two kinds of controllers, one is for normal use and the other is for fault-tolerant control when sensor faults have occurred. Considering that the information of the sensor faults is unknown to the controller, an observer is designed for the fault-tolerant controller. Moreover, in view of the issue that the output difference between the online and offline controllers may induce undesired oscillations in control input at the switching instant, a bumpless transfer compensator is presented based on sliding mode control. Due to the reasonably designed compensator, the difference can be minimized to a small value to guarantee smooth transitions of the control input when sensor faults have occurred. Finally, numerical simulations verify the effectiveness of the proposed method.

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LQ bumpless transfer between two tracking controllers

Cited by 12 publications

References 18 publications

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Speculative Thread Framework for Transient Management and Bumpless Transfer in Reconfigurable Digital Filters

Observer-based bumpless switching control for switched linear systems with sensor faults

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