Tracking control for a cascade perturbed control system using the active disturbance rejection paradigm

In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result presented in the paper concerns stability conditions formulated based on the Lyapunov analysis for the cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitations imposed on a feasible set of an observer bandwidth are discussed. In order to illustrate characteristics of the closed-loop control system simulation results are presented. Furthermore, the controller is verified experimentally using a two-axis telescope mount. The obtained results confirm that the considered control strategy can be efficiently applied for mechanical systems when a high tracking precision is required.Comment: 17 pages, 8 figures, 2 table

Robust motion control SMC point of view

In this paper the robust motion control systems in the sliding mode framework are discussed. Due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed of n second order systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constraint. Such a formulation leads naturally to sliding mode framework to be applied. In this approach constraint manifolds are selected to coincide with desired constraints on the generalized coordinates. It has been shown that the CMC can be interpreted as a realization of the acceleration controller thus possessing all robust properties of the acceleration controller framework. The possibility to treat both unconstrained motion (the motion without contact with environment) and constrained motion in the same way is shown

Controling interactions in motion control systems

Design of motion control systems should take into account (a) unconstrained motion performed without interaction with environment or other systems, (b) constrained motion performed by certain functional interaction with environment or other system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. It will be shown that the same design approach can be used for systems that maintain some functional relations like parallel robots

H infinity control design for generalized second order systems based on acceleration sensitivity function

This article presents an Hinfinty control design method based on the Acceleration Sensitivity (AS) function. This approach can be applied to any fully actuated generalized second order system. In this framework, classical modal specifications(pulsations / damping ratios) are expressed in terms of Hinfinty templates allowing other frequency domain specifications to betaken into account. Finally, a comparison between AS with a more classical Hinfinty approach and with the Cross Standard Form(CSF) is presented. A 2 degrees of freedom spring-damper-mass academic example is used to illustrate the properties of the AS,though this method was developed and is used for atmospheric reentry control design

On-demand Aerodynamics in Integrally Actuated Membranes with Feedback Control

This paper is a numerical investigation on model reduction and control system design of integrally actuated membrane wings. A high-fidelity electro-aeromechanical model is used for the simulation of the dynamic fluid-structure interaction between a low-Reynolds-number flow and a dielectric elastomeric wing. Two reduced-order models with different levels of complexity are then derived. They are based on the projection of the fullorder discretisation of fluid and structure on modal shapes obtained from eigenvalue analysis and Proper Orthogonal Decomposition. The low-order systems are then used for the design of Proportional-Integral-Derivative and Linear Quadratic Gaussian feedback schemes to control wing lift. When implemented in the full-order model, closed-loop dynamics are in very good agreement with the reduced-order model for both tracking and gust rejection, demonstrating the suitability of the approach. The control laws selected in this work were found to be effective only for low-frequency disturbances due to the large phase delay introduced by the fluid convective time-scales, but results demonstrate the potential for the aerodynamic control of membrane wings in outdoor flight using dielectric elastomers

Continuous time controller based on SMC and disturbance observer for piezoelectric actuators

Abstract – In this work, analog application for the Sliding Mode Control (SMC) to piezoelectric actuators (PEA) is presented. DSP application of the algorithm suffers from ADC and DAC conversions and mainly faces limitations in sampling time interval. Moreover piezoelectric actuators are known to have very large bandwidth close to the DSP operation frequency. Therefore, with the direct analog application, improvement of the performance and high frequency operation are expected. Design of an appropriate SMC together with a disturbance observer is suggested to have continuous control output and related experimental results for position tracking are presented with comparison of DSP and analog control application