Deadbeat Control for Linear Systems with Input Constraints
Summary :
A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E92-A No.12 pp.3390-3393
- Publication Date
- 2009/12/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E92.A.3390
- Type of Manuscript
- LETTER
- Category
- Systems and Control
Authors
Keyword
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Dane BAANG, Dongkyoung CHWA, "Deadbeat Control for Linear Systems with Input Constraints" in IEICE TRANSACTIONS on Fundamentals,
vol. E92-A, no. 12, pp. 3390-3393, December 2009, doi: 10.1587/transfun.E92.A.3390.
Abstract: A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E92.A.3390/_p
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@ARTICLE{e92-a_12_3390,
author={Dane BAANG, Dongkyoung CHWA, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Deadbeat Control for Linear Systems with Input Constraints},
year={2009},
volume={E92-A},
number={12},
pages={3390-3393},
abstract={A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.},
keywords={},
doi={10.1587/transfun.E92.A.3390},
ISSN={1745-1337},
month={December},}
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TY - JOUR
TI - Deadbeat Control for Linear Systems with Input Constraints
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 3390
EP - 3393
AU - Dane BAANG
AU - Dongkyoung CHWA
PY - 2009
DO - 10.1587/transfun.E92.A.3390
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E92-A
IS - 12
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - December 2009
AB - A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.
ER -
English
