Artículo
Modified integral action with time-varying forgetting function for tracking control
Fecha de publicación:
22/10/2019
Editorial:
Professional Engineering Publishing Ltd
Revista:
Proceedings of The Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
ISSN:
0959-6518
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
While the use of integral action in control is quite common, in part due to its benefits for output regulation, it can also be counterproductive when abrupt changes in disturbance occur during tracking. In order to mitigate its counterproductive effect while at the same time maintaining its advantages for regulation, the present work proposes a new type of integral action, including a time-varying forgetting factor suited to the expected behavior of the disturbance during tracking. Also, Lyapunov stability techniques are used to derive general results aiming to reduce the complexity of stability analysis and control design when the proposed integral action is included in a control law. In particular, these results are used for stability analysis when the proposed integral action is implemented in a deterministic robust controller for a linear motor system. Furthermore, the controller is implemented in the corresponding experimental setup, resulting in an improvement on maximum tracking error of up to 32 %.
Palabras clave:
Non-linear control
,
Integral action
,
Robust control
,
Position control
Archivos asociados
Licencia
Identificadores
Colecciones
Articulos(CCT - PATAGONIA CONFLUENCIA)
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - PATAGONIA CONFLUENCIA
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - PATAGONIA CONFLUENCIA
Citación
Villegas, Fernando Javier; Hecker, Rogelio Lorenzo; Peña, Miguel Edgardo; Modified integral action with time-varying forgetting function for tracking control; Professional Engineering Publishing Ltd; Proceedings of The Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering; 234; 6; 22-10-2019; 715-725
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