- Title
- Tracking control of constant-linear-velocity spiral reference by LQG method
- Creator
- Bazaei, Ali; Maroufi, Mohammad; Moheimani, S. O. Reza
- Relation
- 20th IFAC World Congress. 20th IFAC World Congress: Toulouse, France, 9-14 July 2017: Proceedings [presented in IFAC-PapersOnLine, Vol. 50 Iss. 1] (Toulouse, France 9-14 July, 2017) p. 15568-15573
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2017.08.1882
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2017
- Description
- We report an extension of a recent LQG control method to track reference signals by which a constant-linear-velocity (CLV) spiral scan pattern is generated. In contrast to the constant-angular-velocity (CAV) spiral pattern, the instantaneous frequency of the CLV sinusoidal references considerably varies over the scan period. In addition, the reference amplitude is a nonlinear function of time, making the tracking of a CLV spiral reference a more challenging control objective. Considerable improvement in the tracking performance of the proposed time-varying controller is demonstrated through a reference scaling method. Experimental implementation on a MEMS nanopositioner further illustrates applicability of the proposed control approach.
- Subject
- LGQ control; spiral trajectory; constant linear velocity; nanopositioning
- Identifier
- http://hdl.handle.net/1959.13/1384560
- Identifier
- uon:32101
- Identifier
- ISSN:2405-8963
- Language
- eng
- Reviewed
- Hits: 899
- Visitors: 1114
- Downloads: 1
Thumbnail | File | Description | Size | Format |
---|