Bernhard, Sebastian ; Adamy, Jürgen (2016)
Minimized Input-Energy Gain Based Static Decoupling Control for Linear Over-Actuated Systems with Sinusoidal References.
12th IEEE International Conference on Control and Automation. Kathmandu, Nepal (01.-03.06.2016)
doi: 10.1109/ICCA.2016.7505285
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
This paper introduces a convex optimization procedure to assign the additional degrees of freedom (DoF) in decoupling control of over-actuated linear systems via static linear feedback. By a suitable choice of the DoFs, the tasks of system stabilization and optimization can be separated. This involves the parametrization of steady state trajectories of the system at the same time. Exploiting the resulting framework, it is feasible to formulate a linear semidefinite program which accounts for minimization of the input-energy gain regarding sinusoidal references with known frequencies. Representing the latter by an exogenous system, an additional constraint guarantees a performance increase for arbitrary exogenous initial values. The effectiveness of the approach is shown in simulations and compared to previous results.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2016 |
| Autor(en): | Bernhard, Sebastian ; Adamy, Jürgen |
| Art des Eintrags: | Bibliographie |
| Titel: | Minimized Input-Energy Gain Based Static Decoupling Control for Linear Over-Actuated Systems with Sinusoidal References |
| Sprache: | Englisch |
| Publikationsjahr: | 7 Juli 2016 |
| Verlag: | IEEE |
| Buchtitel: | 2016 12th IEEE International Conference on Control and Automation (ICCA) |
| Veranstaltungstitel: | 12th IEEE International Conference on Control and Automation |
| Veranstaltungsort: | Kathmandu, Nepal |
| Veranstaltungsdatum: | 01.-03.06.2016 |
| DOI: | 10.1109/ICCA.2016.7505285 |
| Kurzbeschreibung (Abstract): | This paper introduces a convex optimization procedure to assign the additional degrees of freedom (DoF) in decoupling control of over-actuated linear systems via static linear feedback. By a suitable choice of the DoFs, the tasks of system stabilization and optimization can be separated. This involves the parametrization of steady state trajectories of the system at the same time. Exploiting the resulting framework, it is feasible to formulate a linear semidefinite program which accounts for minimization of the input-energy gain regarding sinusoidal references with known frequencies. Representing the latter by an exogenous system, an additional constraint guarantees a performance increase for arbitrary exogenous initial values. The effectiveness of the approach is shown in simulations and compared to previous results. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 05 Jul 2016 09:50 |
| Letzte Änderung: | 04 Apr 2023 07:28 |
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