- Title
- A framework for the nonlinear control of dual-stage systems
- Creator
- Salton, Aurélio T.; Flores, Jeferson V.; Gomes Da Silva Jr, Joāo M.; Zheng, Jinchuan; Chen, Zhiyong
- Relation
- 19th IFAC World Congress. Proceedings of the19th IFAC World Congress (Cape Town, South Africa 24-29 August, 2014) p. 1140-1145
- Publisher Link
- http://dx.doi.org/10.3182/20140824-6-ZA-1003.00880
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2014
- Description
- This paper presents a framework for the nonlinear control of dual-stage actuators (DSA). Motivated by various nonlinear controllers that make use of sector bounded and L∞, nonlinearities for the control of saturated linear systems, a methodology for integrating such nonlinear functions in order to improve the performance of DSA is presented. The stability of the closed-loop system is assessed by casting the nonlinearities in a mixed sector-bounded plus quasi-Linear Parameter Varying (LPV) framework, leading to a set of linear matrix inequalities (LMIs) to be satisfied by the controller parameters. Taking advantage of the developed framework, a new L∞ function is proposed to avoid the saturation of the secondary actuator. Simulation results illustrate the validity of the proposed framework and its potential for the performance improvement of DSA.
- Subject
- DSA; nonlinear feedback; time-optimal performance; macro-micro manipulator
- Identifier
- http://hdl.handle.net/1959.13/1064734
- Identifier
- uon:17636
- Identifier
- ISSN:1474-6670
- Language
- eng
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