Tracking control of constant-linear-velocity spiral reference by LQG method

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
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