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

页码：370 / 375

页数：6

共 50 条

[41] Two-Degree-of-Freedom Control of Flexible Manipulator Using Adaptive Notch Filter and Strain Feedback
Sasaki, Minoru
Miyabe, Ryutaro
Njeri, Waweru
Matsushita, Kojiro
[J]. 2019 4TH ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS 2019), 2019, : 32 - 38
[42] Feedback control for two-degree-of-freedom vibration system with fractional-order derivative damping
Liu, Canchang
Ma, Chicheng
Zhou, Jilei
Liu, Lu
Yue, Shuchang
Gong, Qingmei
[J]. JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL, 2018, 37 (03) : 554 - 564
[43] Robust Two-Degree-of-Freedom Iterative Learning Control for Flexibility Compensation of Industrial Robot Manipulators
Wang, Cong
Zheng, Minghui
Wang, Zining
Tomizuka, Masayoshi
[J]. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 2381 - 2386
[44] Robust two-degree-of-freedom control for high-rise/high-speed elevators
Hu, Qing
Re, Shuo
Yu, Dongmei
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7, 2007, : 2281 - 2285
[45] Robust two-degree-of-freedom controller for automatic generation control of multi-area system
Debbarma, Sanjoy
Saikia, Lalit Chandra
Sinha, Nidul
[J]. INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS, 2014, 63 : 878 - 886
[46] Application of two-degree-of-freedom H-infinity optimization to robust lateral vehicle control
Mammar, S
[J]. PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1997, : 598 - 603
[47] Robust Control of a Two-Degree-of-Freedom Flexure-Based Nanopositioner for Planar Scanning Tasks
Cheng, Zilong
Ma, Jun
Wang, Wenxin
Zhang, Xiaoxue
Chen, Xiaolong
Li, Xiaocong
Zhu, Haiyue
Lee, Tong Heng
[J]. 2021 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2021, : 498 - 503
[48] Two-Degree-of-Freedom Robust Temperature Control of Peltier Device Based on Heat Disturbance Observer
Morimitsu, Hidetaka
Katsura, Seiichiro
[J]. ELECTRICAL ENGINEERING IN JAPAN, 2013, 184 (01) : 66 - 74
[49] Load vibration reduction in rotary cranes using robust two-degree-of-freedom control approach
Ouyang, Huimin
Zhang, Guangming
Mei, Lei
Deng, Xin
Wang, Deming
[J]. ADVANCES IN MECHANICAL ENGINEERING, 2016, 8 (03) : 1 - 11
[50] Two-degree-of-freedom robust temperature control of peltier device based on heat disturbance observer
Department of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
[J]. IEEJ Trans. Ind Appl., 1600, 7 (967-973):

← 1 2 3 4 5 →