Feedforward Design and Optimality Aspects for the Control of Mechatronic Systems

Authors

Abstract

This paper considers the tracking controller design for a mechatronic handling system. The presented approach is based on Port‐Hamiltonian systems and it achieves good tracking as well as good disturbance rejection based on a polynomial approach. A PBC controller stabilizes the trajectory and the feedforward part has to fulfill the given limitations and the time optimality. This approach avoids the solution of a boundary value problem and a real‐time integration of the internal dynamics. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Citation

Journal: PAMM
Year: 2011
Volume: 11
Issue: 1
Pages: 835–836
Publisher: Wiley
DOI: 10.1002/pamm.201110406

BibTeX

@article{Stadlmayr_2011,
  title={{Feedforward Design and Optimality Aspects for the Control of Mechatronic Systems}},
  volume={11},
  ISSN={1617-7061},
  DOI={10.1002/pamm.201110406},
  number={1},
  journal={PAMM},
  publisher={Wiley},
  author={Stadlmayr, Richard and Gahleitner, Reinhard},
  year={2011},
  pages={835--836}
}

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References

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Stadlmayr, R. & Schlacher, K. Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer. IFAC Proceedings Volumes 41, 1833–1838 (2008) – 10.3182/20080706-5-kr-1001.00313
de Boor, C. A Practical Guide to Splines. Applied Mathematical Sciences (Springer New York, 1978). doi:10.1007/978-1-4612-6333-3 – 10.1007/978-1-4612-6333-3