Modified integral action with time-varying forgetting function for tracking control
| Autor: | Miguel Peña, Fernando Villegas, Rogelio L. Hecker |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Disturbance (geology) Forgetting Computer science Mechanical Engineering 020208 electrical & electronic engineering TRAC 02 engineering and technology Function (mathematics) Nonlinear control Tracking (particle physics) 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Robust control Control (linguistics) computer computer.programming_language |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 234:715-725 |
| ISSN: | 2041-3041 0959-6518 |
| DOI: | 10.1177/0959651819879262 |
| Popis: | 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, this 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%. |
| Databáze: | OpenAIRE |
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