Spectral design of output feedback controllers for systems pre-compensated by input shapers

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00239301" target="_blank" >RIV/68407700:21220/15:00239301 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1016/j.ifacol.2015.09.363" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2015.09.363</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2015.09.363" target="_blank" >10.1016/j.ifacol.2015.09.363</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Spectral design of output feedback controllers for systems pre-compensated by input shapers

Popis výsledku v původním jazyce

Abstract: The primary objective is to investigate the applicability of spectral methods for designing feedback controllers for a closed loop system with an input shaper with time delays. The shaper is included in the feedback loop in order to pre-compensate low-damped oscillatory modes of a flexible subsystem. However, after inserting a shaper into the feedback loop, the closed loop dynamics becomes infinite dimensional. A robust controller design then requires guaranteeing that all the infinitely many poles of the closed loop system will safely be located in the left half of the complex plane. Besides, the closed loop dynamics need to be sufficiently fast in order to take over and keep filtering properties of the input shaper. For the spectral design of the controller, the recently developed spectral abscissa minimization approach for interconnected time delay systems is applied. The presented methods are tested on a case study simulation example, which is a multi-degree of freedom mechanical systems.

Název v anglickém jazyce

Spectral design of output feedback controllers for systems pre-compensated by input shapers

Popis výsledku anglicky

Abstract: The primary objective is to investigate the applicability of spectral methods for designing feedback controllers for a closed loop system with an input shaper with time delays. The shaper is included in the feedback loop in order to pre-compensate low-damped oscillatory modes of a flexible subsystem. However, after inserting a shaper into the feedback loop, the closed loop dynamics becomes infinite dimensional. A robust controller design then requires guaranteeing that all the infinitely many poles of the closed loop system will safely be located in the left half of the complex plane. Besides, the closed loop dynamics need to be sufficiently fast in order to take over and keep filtering properties of the input shaper. For the spectral design of the controller, the recently developed spectral abscissa minimization approach for interconnected time delay systems is applied. The presented methods are tested on a case study simulation example, which is a multi-degree of freedom mechanical systems.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA13-06962S" target="_blank" >GA13-06962S: Nové koncepty v teorii signálových tvarovačů s dopravním zpožděním</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 12th IFAC Workshop on Time Delay Systems

ISBN

—

ISSN

2405-8963

e-ISSN

2405-8963

Počet stran výsledku

6

Strana od-do

117-122

Název nakladatele

IFAC

Místo vydání

New York

Místo konání akce

Ann Arbor, MI

Datum konání akce

28. 6. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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