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LQ Optimal Prefiltering for Fast Tracking and Robust Vibration Suppression

Tekles, Nikolas and Ginta, Sabin-Mihai (2019) LQ Optimal Prefiltering for Fast Tracking and Robust Vibration Suppression. 2019 18th European Control Conference (ECC), 25-28 June 2019, Naples, Italy. DOI: 10.23919/ECC.2019.8795889

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Official URL: https://ieeexplore.ieee.org/document/8795889

Abstract

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.

Item URL in elib:https://elib.dlr.de/128505/
Document Type:Conference or Workshop Item (Speech)
Title:LQ Optimal Prefiltering for Fast Tracking and Robust Vibration Suppression
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tekles, NikolasNikolas.Tekles (at) dlr.deUNSPECIFIED
Ginta, Sabin-MihaiSabin-Mihai.Ginta (at) dlr.deUNSPECIFIED
Date:2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.23919/ECC.2019.8795889
Series Name:IEEE
Status:Published
Keywords:Prefilter, robust, robot
Event Title:2019 18th European Control Conference (ECC)
Event Location:Naples, Italy
Event Type:international Conference
Event Dates:25-28 June 2019
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 System Dynamics and Control > Space System Dynamics
Deposited By: Ginta, Sabin-Mihai
Deposited On:09 Sep 2019 09:43
Last Modified:09 Sep 2019 09:43

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