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

Control Engineering Practice

Volumn 26, Issue 1, 2014, Pages 41-50

  Cole, Matthew O T ^a   Wongratanaphisan, Theeraphong ^b  

^a University of Bath   (United Kingdom)

^b CHIANG MAI UNIVERSITY   (Thailand)

Author keywords

Linear quadratic; Motion control; Optimal control; Reference preview; Tracking control

Indexed keywords

FEED-FORWARD CONTROLLERS; LINEAR MOTION STAGES; LINEAR QUADRATIC; OPTIMAL CONTROLS; REFERENCE PREVIEW; STEADY STATE ERRORS; TRACKING CONTROLS; TRACKING PERFORMANCE;

FEEDFORWARD CONTROL; MOTION CONTROL; OPTIMIZATION;

POLYNOMIALS;

EID: 84897713204     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2013.12.007     Document Type: Article

References (18)

1. Butterworth J.A., Pao L.Y., Abramovitch D.Y. Analysis and comparison of three discrete-time feedforward model-inverse control techniques for nonminimum-phase systems. Mechatronics 2012, 22(5):577-587.
2. Devasia S., Chen D., Paden B. Nonlinear inversion-based output tracking. IEEE Transactions on Automatic Control 1996, 41(7):930-942.
3. Dewey J.S., Leang K., Devasia S. Experimental and theoretical results in output-trajectory redesign for flexible structures. ASME, Journal of Dynamic Systems, Measurement and Control 1998, 120(11):1865-1871.
4. Hac A. Optimal linear preview control of active vehicle suspension. Vehicle System Dynamics 1992, 21(1):167-195.
5. 2 preview control. ASME, Journal of Dynamic Systems, Measurement and Control 2010, 132(3). art. no. 031005.
6. Kucera V. Analysis and design of discrete linear control systems 1991, Prentice Hall, New York.
7. Leva A., Bascetta L. Designing the feedfoward part of 2-d.o.f. industrial controllers for optimal tracking. Control Engineering Practice 2007, 15:909-921.
8. Lewis F.R., Syrmos V.L. Optimal control 1995, Wiley, New York.
9. Marzbanrad J., Ahmadi G., Zohoor H., Jojjat Y. Stochastic optimal preview control of an active vehicle suspension. Journal of Sound and Vibration 2004, 257:973-990.
10. Mosca E. Optimal, predictive and adaptive control 1995, Prentice Hall, NJ.
11. Mosca E., Casavalo A. Deterministic LQ preview tracking design. IEEE Transactions on Automatic Control 1995, 40(7):1278-1281.
12. Mosca E., Zappa G. Matrix fraction solution to the discrete-time LQ stochastic tracking and servo problems. IEEE Transactions on Automatic Control 1989, 34:240-242.
13. Proakis J.G., Manolakis D.G. Digital signal processing 1996, Prentice Hall, NJ.
14. Rigney B.P., Pao L.Y., Lawrence D.A. Nonminimum-phase dynamic inversion for settle time applications. IEEE Transactions on Control Systems Technology 2009, 17(5):989-1004.
15. Roh H.S., Park Y. Stochastic optimal preview control of a vehicle suspension. Journal of Sound and Vibration 1999, 220:313-330.
16. Wu Y., Zou Q. Robust inversion-based 2-DOF control design for output tracking. Piezoelectric-actuator example. IEEE Transactions on Control Systems Technology 2009, 17(5):1069-1082.
17. Zou Q. Optimal preview-based stable inversion for output tracking of nonminimum-phase systems. Automatica 2009, 45(1):230-237.
18. Zou Q., Devasia S. Preview-based optimal inversion for output tracking. Application to scanning tunneling microscopy. IEEE Transactions on Control Systems Technology 2004, 12(3):375-386.