Separated periodic/aperiodic state feedback control using periodic/aperiodic separation filter based on lifting

Muramatsu, Hisayoshi; Katsura, Seiichiro

doi:10.1016/j.automatica.2018.12.023

Cited by 12 publications

(8 citation statements)

References 19 publications

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“…T (s) is a complementary sensitivity function, which is an index to evaluate the robust stability. The complementary sensitivity functions of the P/A motion control systems are given by (12), (17), (22), (27), (32), and (37). To satisfy the robust stability condition, the cutoff frequency g of the DOB and parameters for the P/A motion control:…”

Section: Robust Stabilitymentioning

confidence: 99%

“…Accordingly, the P/A motion control using P/A velocity and P/A force is proposed. A periodic/aperiodic separation filter (PASF) [22] separates velocity and force into the P/A velocity and P/A force, respectively. The separation of objectives and motion into P/A objectives and P/A motions, respectively, enables the simultaneous realization of two control objectives.…”

mentioning

confidence: 99%

“…However, these methods focus only on the periodicity. Moreover, although the previous study [22] proposed the PASF and P/A state feedback control, it is impractical because disturbance compensation and practical simultaneous control are not addressed. In this article, six types of practical P/A motion controls, that correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls, are constructed.…”

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confidence: 99%

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Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

Muramatsu

Katsura

2020

IEEE Trans. Ind. Electron.

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Motion control is a fundamental technique used in automated mechanical systems. Classically, velocity, force, and impedance are controlled in motion control systems, but simultaneous control is difficult. This article proposes periodic/aperiodic (P/A) motion control based on periodicity and aperiodicity of motion. The P/A motion control separately applies different control methods to P/A motions using P/A velocity and P/A force, which are extracted using a periodic/aperiodic separation filter (PASF) from velocity and force. Accordingly, six types of P/A motion controls are constructed in this article, which correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls. To construct the P/A motion control systems, acceleration control based on a disturbance observer is used. The ACS, which rejects disturbances, enables the P/A motion control design to ignore disturbances. The experiments were conducted to validate the six P/A motion controls, which simultaneously realized two P/A motion control objectives.

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Section: Robust Stabilitymentioning

confidence: 99%

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confidence: 99%

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confidence: 99%

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Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

Muramatsu

Katsura

2020

IEEE Trans. Ind. Electron.

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“…The periodic/Aperiodic separation control was proposed to achieve quasi-periodic and quasi-aperiodic controls on a single-degree-of-freedom [17]- [19]. By using a periodic/aperiodic separation filter (PASF), a state is separated into quasi-periodic and quasi-aperiodic states, and the separated quasi-periodic and quasi-aperiodic tasks are simultaneously achieved.…”

Section: Introductionmentioning

confidence: 99%

Control of Prioritized and Separated Periodic/Aperiodic Task

Muramatsu

Hino

2023

IEEE Access

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Robots are typically expected to perform multiple tasks. For realizing multiple tasks using multi-degrees-of-freedom of a robot, priority control was developed. The priority control prioritizes conflicting tasks by projecting lower-priority task velocity into a null space of higher-priority task spaces. Similarly, for realizing two tasks on a single-degree-of-freedom of a robot, periodic/aperiodic separation control was developed. The periodic/aperiodic separation control separates a state into quasi-periodic and quasiaperiodic states and feedback controls them separately. Thus, the priority control and periodic/aperiodic separation control realize multiple tasks in a different manner, and this paper proposes an integration of them to increase the number of simultaneously realized multiple tasks. Furthermore, this study analyzed the stability and conducted experiments to validate the proposed method. In the experiments, the proposed method achieved to increase the number of realizable tasks from six to nine by performing the quasi-periodic and quasi-aperiodic tasks in addition to prioritized tasks.

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“…: +81-82-424-7575, Fax: +81-82-422-7193, Address: 1-4-1 Kagamiyama, Higashihiroshima, Hiroshima, 739-8527, Japan riodicity and aperiodicity is rare. Using the lifting technique, Muramatsu and Katsura (2019) proposed a periodic/aperiodic separation filter (PASF) that separates a periodic/aperiodic state into a quasi-periodic state and a quasi-aperiodic state; they used the PASF for separation control of the quasi-periodic and quasiaperiodic states existing in the periodic/aperiodic state. The PASF is similar to a comb filter, which rejects a periodic signal (Sugiura et al (2013); Liu and Declercq (2017); Aslan and Altintas (2018)), but differs from the comb filter in addressing the quasi-periodic and quasiaperiodic signals.…”

Section: Introductionmentioning

confidence: 99%

Separation and Estimation of Periodic/Aperiodic State

Muramatsu

2022

Preprint

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Periodicity and aperiodicity can exist in a state simultaneously and typically become quasi-periodicity and quasi-aperiodicity in a dynamically changing state. The quasi-periodic and quasi-aperiodic states existing in the periodic/aperiodic state mostly correspond to different phenomena and require different controls. For separation control of these states, this paper defines the periodic/aperiodic, quasi-periodic, and quasi-aperiodic states to construct a periodic/aperiodic separation filter that separates the periodic/aperiodic state into the quasi-periodic and quasi-aperiodic states. Based on these definitions, the linearity of periodic-pass and aperiodic-pass functions and the orthogonality of quasi-periodic and quasi-aperiodic state functions are proved. Subsequently, the periodic/aperiodic separation filter composed of periodic-pass and aperiodic-pass filters that realize the periodic-pass and aperiodic-pass functions is designed and integrated with a Kalman filter for estimation of the quasiperiodic and quasi-aperiodic states.

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Separated periodic/aperiodic state feedback control using periodic/aperiodic separation filter based on lifting

Cited by 12 publications

References 19 publications

Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

Control of Prioritized and Separated Periodic/Aperiodic Task

Separation and Estimation of Periodic/Aperiodic State

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