Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation

被引：0
|
作者：
Cunico, Daniel [1 ]
Cenedese, Angelo [1 ]
Zaccarian, Luca [2 ,3 ]
Borgo, Mauro [4 ]
机构：
[1] Univ Padua, Dept Informat Engn, Padua, Italy
[2] Univ Toulouse, LAAS CNRS, Toulouse, France
[3] Univ Trento, Trento, Italy
[4] BFT SpA, Vicenza, Italy
来源：
2022 IEEE 17TH INTERNATIONAL CONFERENCE ON ADVANCED MOTION CONTROL (AMC) | 2022年
关键词：
Industrial Motion Control; Trajectory Tracking; Robust Control; Linear Matrix Inequalities; DESIGN; CONSTRAINTS; SMOOTH; ROBOTS;
D O I：
10.1109/AMC51637.2022.9729325
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A control strategy consisting of a feedforward action and a robust feedback for a gate automation is presented, where a low-cost and non-regenerative motor drive is used. A model of the system is developed and feedback linearization is used to compensate for the highly nonlinear dynamics of the electric drive. To achieve good motion tracking performance we design a smooth reference associated with a feedforward action, based on the nominal model of the system. In addition, based on a model of the uncertainties a robust feedback controller is tuned by solving a set of linear matrix inequalities, combining the optimization of a LQR cost with some pole placement constraints. Finally, we test the proposed control strategy on an experimental device, obtaining satisfactory results.
引用
收藏
页码：370 / 375
页数：6
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