.png){kind=icon}
Return
Parameter Space Optimization Towards Constrained Controller Design With Application to Tray Indexing
.png){kind=icon}
PRE
AI
DOI：10.1109/TIE.2019.2935982.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
Tray indexing driven by timing belt actuator is widely used in the industry, where high-precision profile tracking is essential to guarantee good production quality. To avoid humming sound and chip dislodged, an autonomous S-curve trajectory is used as the reference profile and the jerk resulting from the control input chattering needs to be well controlled. To implement the optimal tracking control with respect to an S-curve profile and maintain a guaranteed adequate level of performance towards the perturbation, the composite system is constructed by augmenting the S-curve trajectory with the system model and an H-2 guaranteed cost optimization problem is formulated. The system performance in terms of tracking accuracy and jerk minimization is quantified as the H-2-norm, and it aims to minimize the upper bound to the H-2-norm over the uncertain domain. However, due to structural constraints on the composite gain matrix as well as robustness requirement, the algebraic Riccati equations cannot be used. This article presents the theoretical results where all the stabilizing constrained gain matrices can be parameterized over an extended matrical set. Efficient numerical procedures are developed to obtain the epsilon-optimum with guaranteed robustness by linear programming and outer linearization in an iterative framework. Numerical optimization and experiments are conducted to validate the theoretical results and the practical appeal of the proposed approach.
Keywords:
Constrained optimization
convex optimization
jerk control
linear programming
outer linearization
robust control
epsilon-optimum
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
7.2
Papers:
1.8W
Citations:
9.8W
Organization
View more organizations
Cited Papers
ShareSaveShareSaveShareSaveEnhanced sensitivity shaping by data-based tuning of disturbance observer with non-binomial filter.png)
ISA TRANSACTIONS
ISA TRANSACTIONSIF6.5
PREAI
ShareSaveCoordinated Adaptive Robust Contouring Controller Design for an Industrial Biaxial Precision Gantry
PREAI
ShareSave
View more