Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems / James Richard Forbes in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Titre : Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems Type de document : texte imprimé Auteurs : James Richard Forbes, Auteur ; Christopher John Damaren, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Closed loop systems Flexible manipulators Manipulator dynamics Motion control Numerical analysis Stability Index. décimale : 629.8 Résumé : The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a family of very strictly passive compensators scheduled via time- or state-dependent scheduling signals is also very strictly passive. Two optimization problems are posed; we first present a simple method to optimize the linear SPR controllers, which compose the gain-scheduled controller. Second, we formulate the optimization problem associated with the gain-scheduled controller itself. Restricting our investigation to time-dependent scheduling signals, the signals are parameterized, and the optimization objective function seeks to find the form of the scheduling signals, which minimizes a combination of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals are not necessarily linear. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems [texte imprimé] / James Richard Forbes, Auteur ; Christopher John Damaren, Auteur . - 2010 . - 07 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Mots-clés : Closed loop systems Flexible manipulators Manipulator dynamics Motion control Numerical analysis Stability Index. décimale : 629.8 Résumé : The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a family of very strictly passive compensators scheduled via time- or state-dependent scheduling signals is also very strictly passive. Two optimization problems are posed; we first present a simple method to optimize the linear SPR controllers, which compose the gain-scheduled controller. Second, we formulate the optimization problem associated with the gain-scheduled controller itself. Restricting our investigation to time-dependent scheduling signals, the signals are parameterized, and the optimization objective function seeks to find the form of the scheduling signals, which minimizes a combination of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals are not necessarily linear. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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