Correlation-Based Tuning of a Restricted-Complexity Controller for an Active Suspension System

A correlation-based controller tuning method is proposed for the ``Design and optimization of restricted-complexity controllers'' benchmark problem. The approach originally proposed for model following is extended to solve the disturbance rejection problem. The idea is to tune the controller parameters such that the closed-loop output be uncorrelated with the disturbance signal. Since perfect decorrelation between the closed-loop output and the disturbance signal is not attainable in the restricted-complexity controller design, the cross correlation between these two signals is minimized iteratively using the stochastic approximation method. Since control specifications can normally be expressed in terms of constraints on the sensitivity functions, a frequency-domain analysis of the criterion is performed. Straightforward implementation of the proposed approach on the active suspension system of the Automatic Control Laboratory of Grenoble (LAG) provides a 2nd-order controller that meets the control specifications very well

Correlation-Based Tuning of a Restricted-Complexity Controller for an Active Suspension System

A correlation-based controller tuning method is proposed for the \Design and optimization of restricted-complexity controllers" benchmark problem. The approach originally proposed for model following is applied to solve the disturbance rejection problem. The idea is to tune the controller parameters such that the closed-loop output be uncorrelated with the measured disturbance. Since perfect decorrelation between the closed-loop output and the disturbance is not attainable with a restricted-complexity controller, the cross-correlation of these two signals is minimized. This is done iteratively using stochastic approximation. A frequency analysis of the tuning criterion allows dealing with control speci cations expressed in terms of constraints on the sensitivity functions. Application to the active suspension system of the Automatic Laboratory of Grenoble (LAG) provides a 2nd-order controller that meets the control speci cations to a large extent

Vibration suppression in multi-body systems by means of disturbance filter design methods

This paper addresses the problem of interaction in mechanical multi-body systems and shows that subsystem interaction can be considerably minimized while increasing performance if an efficient disturbance model is used. In order to illustrate the advantage of the proposed intelligent disturbance filter, two linear model based techniques are considered: IMC and the model based predictive (MPC) approach. As an illustrative example, multivariable mass-spring-damper and quarter car systems are presented. An adaptation mechanism is introduced to account for linear parameter varying LPV conditions. In this paper we show that, even if the IMC control strategy was not designed for MIMO systems, if a proper filter is used, IMC can successfully deal with disturbance rejection in a multivariable system, and the results obtained are comparable with those obtained by a MIMO predictive control approach. The results suggest that both methods perform equally well, with similar numerical complexity and implementation effort

Quantum Internal Model Principle: Decoherence Control

In this article, we study the problem of designing a Decoherence Control for quantum systems with the help of a scalable ancillary quantum control and techniques from geometric control theory, in order to successfully and completely decouple an open quantum system from its environment. We re-formulate the problem of decoherence control as a disturbance rejection scheme which also leads us to the idea of Internal Model Principle for quantum control systems which is first of its kind in the literature. It is shown that decoupling a quantum disturbance from an open quantum system, is possible only with the help of a quantum controller which takes into account the model of the environmental interaction. This is demonstrated for a simple 2-qubit system wherein the effects of decoherence are completely eliminated. The theory provides conditions to be imposed on the controller to ensure perfect decoupling. Hence the problem of decoherence control naturally gives rise to the quantum internal model principle which relates the disturbance rejecting control to the model of the environmental interaction. Classical internal model principle and disturbance decoupling focus on different aspects viz. perfect output tracking and complete decoupling of output from external disturbances respectively. However for quantum systems, the two problems come together and merge in order to produce an effective platform for decoherence control. In this article we introduce a seminal connection between disturbance decoupling and the corresponding analog for internal model principle for quantum systems.Comment: Submitted to IEEE Transactions on Automatic Control, Mar 15 2010. A basic introduction appeared in 46th IEEE CDC 2007. Acknowledgements: The authors would like to thank the Center for Quantum Information Science and Technology at Tsinghua University, R.-B. Wu, J. Zhang, J.-W. Wu, M. Jiang, C.-W. Li and G.-L. Long for their valuable comments and suggestion

Conceptual design of pointing control systems for space station gimballed payloads

A conceptual design of the control system for Payload Pointing Systems (PPS) is developed using classic Proportional-Integral-Derivatives (PID) techniques. The major source of system pointing error is due to the disturbance-rich environment of the space station in the form of gimbal baseplate motions. These baseplate vibrations are characterized using Fast Fourier Transform (FFT) techniques. Both time domain and frequency domain dynamic models are developed to assess control system performance. Three basic methods exist for the improvement of PPS pointing performance: increase control system bandwidth, add Image Motion Compensation, and/or reduce (or change) the baseplate disturbance environment

Synchronous response modelling and control of an annular momentum control device

Research on the synchronous response modelling and control of an advanced Annular Momentun Control Device (AMCD) used to control the attitude of a spacecraft is described. For the flexible rotor AMCD, two sources of synchronous vibrations were identified. One source, which corresponds to the mass unbalance problem of rigid rotors suspended in conventional bearings, is caused by measurement errors of the rotor center of mass position. The other sources of synchronous vibrations is misalignment between the hub and flywheel masses of the AMCD. Four different control algorithms were examined. These were lead-lag compensators that mimic conventional bearing dynamics, tracking notch filters used in the feedback loop, tracking differential-notch filters, and model-based compensators. The tracking differential-notch filters were shown to have a number of advantages over more conventional approaches for both rigid-body rotor applications and flexible rotor applications such as the AMCD. Hardware implementation schemes for the tracking differential-notch filter were investigated. A simple design was developed that can be implemented with analog multipliers and low bandwidth, digital hardware

Active vibration control techniques for flexible space structures

Two proposed control system design techniques for active vibration control in flexible space structures are detailed. Control issues relevant only to flexible-body dynamics are addressed, whereas no attempt was made to integrate the flexible and rigid-body spacecraft dynamics. Both of the proposed approaches revealed encouraging results; however, further investigation of the interaction of the flexible and rigid-body dynamics is warranted