Singh Optimal Reference Shaping for Dynamical Systems

Theory and Applications
1. Auflage 2010
ISBN: 978-1-4398-0563-3
Verlag: Taylor & Francis
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 416 Seiten

Integrating feedforward control with feedback control can significantly improve the performance of control systems compared to using feedback control alone. Focusing on feedforward control techniques, Optimal Reference Shaping for Dynamical Systems: Theory and Applications lucidly covers the various algorithms for attenuating residual oscillations that are excited by reference inputs to dynamical systems. The reference shaping techniques presented in the book require the system to be stable or marginally stable, including systems where feedback control has been used to stabilize the system.
Illustrates Techniques through Benchmark Problems

After developing models for applications in which the dynamics are dominated by lightly damped poles, the book describes the time-delay filter (input shaper) design technique and reviews the calculus of variations. It then focuses on four control problems: time-optimal, fuel/time-optimal, fuel limited time-optimal, and jerk limited time-optimal control. The author explains how the minimax optimization problem can help in the design of robust time-delay filters and explores the input-constrained design of open-loop control profiles that account for friction in the design of point-to-point control profiles. The final chapter presents numerical techniques for solving the problem of designing shaped inputs.

Supplying MATLAB® code and a suite of real-world problems, this book provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. It includes up-to-date techniques for the design of command-shaped profiles for precise, robust, and rapid point-to-point control of underdamped systems.

Zielgruppe

Professionals and senior undergraduate and graduate students in mechanical, aerospace, and electrical engineering.

Autoren/Hrsg.

Singh, Tarunraj

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Technische Wissenschaften Energietechnik | Elektrotechnik Energieverteilung, Stromnetze

Inhaltsverzeichnis

Introduction
Hard Disk Drives
High Speed Tape Drives
High Speed Elevator
Cranes
Slosh Modeling
Vehicle Platooning
Time-Delay Filter/Input Shaping
Time-Delay Filters
Proportional Plus User-Selected Multiple Delay Control
Time-Delay Control of Multi-Mode Systems
Jerk Limited Input Shapers
Robust Jerk Limited Time-Delay Filter
Jerk Limited Time-Delay Filters for Multi-Mode Systems
Filtered Input Shapers
Discrete-Time Time-Delay Filters
Optimal Control
Calculus of Variations
Hamiltonian Formulation
Minimum Power Control
Frequency Shaped LQR Controller
LQR Control with Noisy Input

Saturating Control
Benchmark Problem
Minimum Time Control
Fuel/Time Optimal Control
Fuel Limited Minimum Time Control
Jerk Limited Time Optimal Control

Minimax Control
Minimax Time-Delay Filters
Minimax Feedback Controllers

Friction Control
Time-Optimal Rest-to-Rest Maneuvers
Pulse-Width Pulse-Amplitude Control
Numerical Approach
Parameter Optimization
Linear Programming
Linear Matrix Inequality

Appendix A: Van Loan Exponential
Appendix B: Differential Lyapunov Equation
Appendix C: Parseval’s Theorem

Index
A Summary appears at the end of each chapter.

Über Autor(innen)

Tarunraj Singh is a professor in the Department of Mechanical and Aerospace Engineering at the University at Buffalo. For more than twenty years, Dr. Singh has worked on the control of flexible structures at various institutions, including Texas A&M University, the University of Waterloo, IBM Almaden Research Center, the Technical University of Darmstadt, and the NASA Goddard Space Flight Center.