基于最优预览控制和未知输入观测器的3d绘图仪精确轨迹跟踪

2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON) Pub Date : 2018-08-01 DOI:10.1109/INTERCON.2018.8526428

Alex S. Huaman-Loayza

{"title":"基于最优预览控制和未知输入观测器的3d绘图仪精确轨迹跟踪","authors":"Alex S. Huaman-Loayza","doi":"10.1109/INTERCON.2018.8526428","DOIUrl":null,"url":null,"abstract":"This paper presents the design of a control strategy for the tracking control problem of a three-axis cartesian-robot based on optimal preview control, where the current and future desired position of the robot are used to calculate the control signal which allows accurate tracking of the desired trajectory. In order to give robustness to external disturbances, an observer capable to estimate any state vector for linear systems with unknown inputs is designed. The effectiveness of the proposed control strategy is verified by simulation for linear and nonlinear trajectories, where preview control improves the tracking accuracy. Likewise, the effectiveness of the unknown input observer is verified by applying a disturbance as an additional input to the system.","PeriodicalId":305576,"journal":{"name":"2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Accurate Trajectory Tracking for a 3D-Plotter Using Optimal Preview Control and Unknown Input Observer\",\"authors\":\"Alex S. Huaman-Loayza\",\"doi\":\"10.1109/INTERCON.2018.8526428\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the design of a control strategy for the tracking control problem of a three-axis cartesian-robot based on optimal preview control, where the current and future desired position of the robot are used to calculate the control signal which allows accurate tracking of the desired trajectory. In order to give robustness to external disturbances, an observer capable to estimate any state vector for linear systems with unknown inputs is designed. The effectiveness of the proposed control strategy is verified by simulation for linear and nonlinear trajectories, where preview control improves the tracking accuracy. Likewise, the effectiveness of the unknown input observer is verified by applying a disturbance as an additional input to the system.\",\"PeriodicalId\":305576,\"journal\":{\"name\":\"2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)\",\"volume\":\"18 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INTERCON.2018.8526428\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INTERCON.2018.8526428","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 6

摘要

针对三轴直角机器人的跟踪控制问题，提出了一种基于最优预览控制的控制策略，利用机器人当前和未来的期望位置来计算控制信号，从而实现对期望轨迹的精确跟踪。为了对外界干扰具有鲁棒性，设计了一种能够估计未知输入线性系统任意状态向量的观测器。通过对线性和非线性轨迹的仿真验证了所提控制策略的有效性，其中预览控制提高了跟踪精度。同样，未知输入观测器的有效性通过将干扰作为系统的附加输入来验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Accurate Trajectory Tracking for a 3D-Plotter Using Optimal Preview Control and Unknown Input Observer

This paper presents the design of a control strategy for the tracking control problem of a three-axis cartesian-robot based on optimal preview control, where the current and future desired position of the robot are used to calculate the control signal which allows accurate tracking of the desired trajectory. In order to give robustness to external disturbances, an observer capable to estimate any state vector for linear systems with unknown inputs is designed. The effectiveness of the proposed control strategy is verified by simulation for linear and nonlinear trajectories, where preview control improves the tracking accuracy. Likewise, the effectiveness of the unknown input observer is verified by applying a disturbance as an additional input to the system.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)

自引率

0.00%

发文量