0
Journal of Dynamic Systems, Measurement, and Control | Volume 138 | Issue 9 | research-article
Research Papers

Adaptive Frequency Shaped Linear Quadratic Control of Mechanical Systems: Theory and Experiment

[+] Author and Article Information
An-Chyau Huang

Professor
Department of Mechanical Engineering,
National Taiwan University of Science
and Technology,
Taipei 106, Taiwan
e-mail: achuang@mail.ntust.edu.tw

Ting-Kai Jhuang

Department of Mechanical Engineering,
National Taiwan University of Science
and Technology,
Taipei 106, Taiwan

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 30, 2015; final manuscript received March 18, 2016; published online May 26, 2016. Assoc. Editor: Ming Xin.

J. Dyn. Sys., Meas., Control 138(9), 091003 (May 26, 2016) (7 pages) Paper No: DS-15-1357; doi: 10.1115/1.4033273 History: Received July 30, 2015; Revised March 18, 2016
Article
References
Figures

The traditional linear quadratic (LQ) controller can give optimal performance to a known linear system with weightings in the time domain, while the frequency shaped LQ (FSLQ) controller is able to provide optimal performance to the same class of systems with weightings in the frequency domain. When the system contains uncertainties, both of these two approaches fail. In this paper, an adaptive controller is proposed to an uncertain mechanical system such that LQ performance can be achieved with weightings in the frequency domain. The function approximation technique is applied to represent the uncertainties into a finite combination of a set of known basis functions. This allows the system to be with various nonlinearities and uncertainties without significant impact on the design procedure. The Lyapunovlike analysis is used to ensure convergence of the system output and boundedness of the internal signals. A dual stage is built to evaluate the performance of the proposed scheme experimentally.
FIGURES IN THIS ARTICLE
<>
Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

A dual stage system

+A dual stage system
View Large  |  Save Figure  |  Download Slide (.ppt)
A dual stage system
Grahic Jump Location
Fig. 2

A high-pass filter for the fine motion stage

+A high-pass filter for the fine motion stage
View Large  |  Save Figure  |  Download Slide (.ppt)
A high-pass filter for the fine motion stage
Grahic Jump Location
Fig. 3

Trajectory of the gross motion stage under proportional-integral-derivative (PID) control

+Trajectory of the gross motion stage under proportional-integral-derivative (PID) control
View Large  |  Save Figure  |  Download Slide (.ppt)
Trajectory of the gross motion stage under proportional-integral-derivative (PID) control
Grahic Jump Location
Fig. 4

Trajectory of the fine motion stage under PID control

+Trajectory of the fine motion stage under PID control
View Large  |  Save Figure  |  Download Slide (.ppt)
Trajectory of the fine motion stage under PID control
Grahic Jump Location
Fig. 5

Control effort of the gross motion stage under PID

+Control effort of the gross motion stage under PID
View Large  |  Save Figure  |  Download Slide (.ppt)
Control effort of the gross motion stage under PID
Grahic Jump Location
Fig. 6

Control effort of the fine motion stage under PID

+Control effort of the fine motion stage under PID
View Large  |  Save Figure  |  Download Slide (.ppt)
Control effort of the fine motion stage under PID
Grahic Jump Location
Fig. 7

Trajectory of the gross motion stage under FSLQ

+Trajectory of the gross motion stage under FSLQ
View Large  |  Save Figure  |  Download Slide (.ppt)
Trajectory of the gross motion stage under FSLQ
Grahic Jump Location
Fig. 8

Trajectory of the fine motion stage under FSLQ

+Trajectory of the fine motion stage under FSLQ
View Large  |  Save Figure  |  Download Slide (.ppt)
Trajectory of the fine motion stage under FSLQ
Grahic Jump Location
Fig. 9

Control effort of the gross motion stage under FSLQ

+Control effort of the gross motion stage under FSLQ
View Large  |  Save Figure  |  Download Slide (.ppt)
Control effort of the gross motion stage under FSLQ
Grahic Jump Location
Fig. 10

Control effort of the fine motion stage under FSLQ

+Control effort of the fine motion stage under FSLQ
View Large  |  Save Figure  |  Download Slide (.ppt)
Control effort of the fine motion stage under FSLQ
Grahic Jump Location
Fig. 11

The actual motion of the fine motion stage under FSLQ

+The actual motion of the fine motion stage under FSLQ
View Large  |  Save Figure  |  Download Slide (.ppt)
The actual motion of the fine motion stage under FSLQ

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Introduction
Turbine Aerodynamics: Axial-Flow and Radial-Flow Turbine Design and Analysis> Chapter 1
Evaluation of Terrorist Risk Using Belief and Plausibility (PSAM-0384)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
A Smart Sampling Strategy for One-at-a-Time Sensitivity Experiments (PSAM-0360)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Utility Function Fundamentals
Decision Making in Engineering Design> Chapter 3
Designing an Artificial Muscle Based on PID Controller and Tuned by Neural Network with a NN Identification of the Plant
Intelligent Engineering Systems through Artificial Neural Networks, Volume 16
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In