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

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...

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Main Authors: Matthew O T Cole, Theeraphong Wongratanaphisan
Format: Journal
Published: 2018
Online Access:https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84897713204&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/45054
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-450542018-01-24T06:04:43Z Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control Matthew O T Cole Theeraphong Wongratanaphisan 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. © 2013 Elsevier Ltd. 2018-01-24T06:04:43Z 2018-01-24T06:04:43Z 2014-05-01 Journal 09670661 2-s2.0-84897713204 10.1016/j.conengprac.2013.12.007 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84897713204&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/45054
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
description 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. © 2013 Elsevier Ltd.
format Journal
author Matthew O T Cole
Theeraphong Wongratanaphisan
spellingShingle Matthew O T Cole
Theeraphong Wongratanaphisan
Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
author_facet Matthew O T Cole
Theeraphong Wongratanaphisan
author_sort Matthew O T Cole
title Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
title_short Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
title_full Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
title_fullStr Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
title_full_unstemmed Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control
title_sort optimal lq feedforward tracking with preview: practical design for rigid body motion control
publishDate 2018
url https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84897713204&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/45054
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