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Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints

Mansfeld, Nico and Ott, Christian and Haddadin, Sami (2016) Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints. In: Proceedings of the American Control Conference. American Control Conference, 06.-08. Jun. 2016, Boston MA, USA.

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Abstract

Modal decoupling is a common approach in engineering to analyze the dynamic behavior of mechanical systems and simplify the controller design. By bringing the system dynamics into diagonal form, one obtains SISO systems for which independent feedback strategies can be implemented. Furthermore, there exist control laws that utilize the available control inputs up to their limits, e.g. optimization-based controllers. While these limits can be applied easily in original space, a still open question is which bounds are feasible in modal space, as one property of the (linear) decoupling transformation is that the actuator constraints become coupled. In this paper, we address the problem of finding the largest possible input limits in modal space that allow independent SISO control and meet the real actuator saturations at the same time. We identify how the controller structure influences the search for the modal constraints and find the limits via optimization. The methods are developed for the general n-DOF case and applied to 2-, 3-, and 7-DOF examples in simulation.

Item URL in elib:https://elib.dlr.de/103989/
Document Type:Conference or Workshop Item (Speech)
Title:Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mansfeld, NicoNico.Mansfeld (at) dlr.dehttps://orcid.org/0000-0002-2978-5628
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:July 2016
Journal or Publication Title:Proceedings of the American Control Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Modal analysis, decoupling, actuator constraints, SISO control
Event Title:American Control Conference
Event Location:Boston MA, USA
Event Type:international Conference
Event Dates:06.-08. Jun. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mansfeld, Nico
Deposited On:08 Dec 2016 09:44
Last Modified:12 Dec 2017 21:59

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