Robust Trajectory Tracking Control of Multimass Resonant Systems in State Space

This paper proposes a novel robust trajectory tracking controller for multimass resonant systems, i.e., flexible mechanical systems, by using differential flatness and disturbance observer (DOb) in state space. The former regulates the nominal performance of the trajectory tracking control when all...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2017-12, Vol.64 (12), p.9366-9377
Main Authors: Sariyildiz, Emre, Gong Chen, Haoyong Yu
Format: Article
Language:English
Subjects:
Aerospace electronics
Controllers
Differential flatness (DF)
disturbance observer (DOb)
Disturbance observers
Dynamics
Estimation
Feedback control
Mechanical systems
mismatched disturbance suppression
Robust control
robust vibration control
Robustness
State feedback
Tracking control
Trajectory analysis
Trajectory control
Trajectory tracking
Vibrations
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Summary:This paper proposes a novel robust trajectory tracking controller for multimass resonant systems, i.e., flexible mechanical systems, by using differential flatness and disturbance observer (DOb) in state space. The former regulates the nominal performance of the trajectory tracking control when all disturbances are neglected; e.g., the vibration at tip is simply suppressed by placing all nominal poles on the real axis via a state feedback controller. However, it is sensitive to plant uncertainties and external disturbances so the nominal performance may significantly change in real implementations. The latter is used to improve the robustness; i.e., the nominal performance can be achieved by suppressing disturbances in practice when DOb is implemented. The states of the system are reconstructed by using the estimations of disturbances and their successive derivatives so that the mismatched disturbances are automatically cancelled by their estimations. The matched disturbances are cancelled by directly feeding back their estimations through control input. Consequently, a simple yet efficient robust trajectory tracking controller is designed for multimass resonant systems in state space. It can precisely follow reference trajectories without requiring the exact dynamic model of the system in real implementations. Experimental results are given to validate the proposal.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2017.2708001