Tekles, Nikolas und Ginta, Sabin-Mihai (2019) LQ Optimal Prefiltering for Fast Tracking and Robust Vibration Suppression. 2019 18th European Control Conference (ECC), 2019-06-25 - 2019-06-28, Naples, Italy. doi: 10.23919/ECC.2019.8795889.
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Offizielle URL: https://ieeexplore.ieee.org/document/8795889
Kurzfassung
Reference tracking and vibration suppression are typical goals in motion control systems. Standard feedforward methods to achieve these goals are inversion-based feedforward control and input shaping. The former achieves perfect tracking but lacks robustness to uncertainties in the system dynamics while the latter may account for robustness at the expense of reduced tracking performance. In this work, a continuous time finite-impulse-response (FIR) prefilter design for linear systems is proposed which allows to trade off tracking performance against robustness. The approach is based on a finite time linear quadratic (LQ) optimal control formulation of the filtering task. Robustness is taken into account by penalizing large magnitudes of the trajectory sensitivity. Tracking delay can be reduced by adjusting the filter length which is a free design parameter. With the proposed prefiltering scheme fast and robust tracking can be achieved. An important application is simultaneous tracking and vibration suppression for motion systems with uncertain elasticity parameters which is used as a simulation example.
elib-URL des Eintrags: | https://elib.dlr.de/128505/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | LQ Optimal Prefiltering for Fast Tracking and Robust Vibration Suppression | ||||||||||||
Autoren: |
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Datum: | 2019 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.23919/ECC.2019.8795889 | ||||||||||||
Name der Reihe: | IEEE | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Prefilter, robust, robot | ||||||||||||
Veranstaltungstitel: | 2019 18th European Control Conference (ECC) | ||||||||||||
Veranstaltungsort: | Naples, Italy | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 25 Juni 2019 | ||||||||||||
Veranstaltungsende: | 28 Juni 2019 | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||
Hinterlegt von: | Ginta, Sabin-Mihai | ||||||||||||
Hinterlegt am: | 09 Sep 2019 09:43 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:32 |
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