Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control

被引：11
|
作者：
Cole, Matthew O. T. [1 ]
Wongratanaphisan, Theeraphong [2 ]
机构：
[1] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England
[2] Chiang Mai Univ, Dept Mech Engn, Chiang Mai 50200, Thailand
来源：
CONTROL ENGINEERING PRACTICE | 2014年 / 26卷
关键词：
Optimal control; Linear quadratic; Tracking control; Reference preview; Motion control; INVERSION;
D O I：
10.1016/j.conengprac.2013.12.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For reference-tracking motion control, preview-based linear quadratic (LQ) design methods provide an effective means to balance tracking performance with available actuation capacity. This paper considers a control structure for which the optimal feedforward controller is independent of the feedback controller. In this way, explicit implementation formulas for feedforward controllers are derived that can be applied to a range of rigid-body motion systems. Key aspects of the optimal LQ solutions are identified, particularly how the choice of design weightings affect steady-state error for polynomial tracking. A redesign procedure for finite preview-time is proposed that preserves exact polynomial tracking properties and control bandwidth of the optimal solutions. Comparative experimental results are presented for a motor-driven linear motion stage. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：41 / 50
页数：10
相关论文
共 50 条
  • [21] Study on optimal preview control method for trajectory tracking based on goal preview time
    Saleh All-bail, Mohmmed M.
    Yuegang, Tan
    Liang, Li
    Advances in Information Sciences and Service Sciences, 2012, 4 (18): : 314 - 321
  • [22] H∞ optimal preview tracking control problem with disturbance attenuation
    Liu, Tao
    Liu, Ling
    Lu, Yanrong
    ASIAN JOURNAL OF CONTROL, 2022, 24 (06) : 3508 - 3521
  • [23] Optimal control of the rectilinear motion of a rigid body on a rough plane by means of the motion of two internal masses
    Bolotnik, N. N.
    Figurina, T. Yu.
    PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS, 2008, 72 (02): : 126 - 135
  • [24] ON MIMO OPTIMAL PREVIEW TRACKING CONTROL FOR KNOWN TRAJECTORY MODELS
    PAK, HA
    SHIEH, R
    OPTIMAL CONTROL APPLICATIONS & METHODS, 1991, 12 (02): : 119 - 130
  • [25] Optimal design of motion control for scan tracking measurement: A CMAC approach
    Wang, Yong-Qing
    Tao, Ye
    Nie, Bing
    Liu, Hai-Bo
    MEASUREMENT, 2013, 46 (01) : 384 - 392
  • [26] OPTIMAL H-2 AND H-INFINITY LQ STOCHASTIC FEEDFORWARD CONTROL
    CASAVOLA, A
    INTERNATIONAL JOURNAL OF CONTROL, 1992, 56 (03) : 703 - 713
  • [27] Low-Order Feedforward Control Schemes for Flexible Motion Systems with Different Rigid-Body Damping
    Li, Xiaocong
    Chen, Si-Lu
    Teo, Chek Sing
    Tan, Kok Kiong
    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2015, : 1361 - 1366
  • [28] Optimal control of an angular motion of a rigid body during infinite and finite time intervals
    El-Gohary, A
    APPLIED MATHEMATICS AND COMPUTATION, 2003, 141 (2-3) : 541 - 551
  • [29] Optimal design of spline-based feedforward for trajectory tracking
    De Caigny, Jan
    Demeulenaere, Brain
    Swevers, Jan
    De Schutter, Joris
    2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 3232 - 3237
  • [30] Optimal Tracking Control of Motion Systems
    Mannava, Anusha
    Balakrishnan, S. N.
    Tang, Lie
    Landers, Robert G.
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2012, 20 (06) : 1548 - 1558
12345