Convex Separable Parametrization in Integrated Servo-Mechanical Design for High-Performance Mechatronics

被引：0

作者：

Tan, Yan Zhi ^{[1
]}

Pang, Chee Khiang ^{[2
,3
]}

Lee, Tong Heng ^{[1
,3
]}

Teo, Tat Joo ^{[2
,4
]}

机构：

[1] Natl Univ Singapore, NUS Grad Sch Integrat Sci & Engn, Singapore 117456, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn, SIM Tech NUS Joint Lab, Singapore 117576, Singapore

[3] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117583, Singapore

[4] Singapore Inst Mfg Technol, Singapore 638075, Singapore

来源：

39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Integrated servo-mechanical design for achieving positive realness constraints and control specifications of high-performance mechatronics is generally a nonlinear and nonconvex optimization problem. In this paper, a generalized Kalman-Yakubovic-Popov Lemma-based algorithm is proposed for simultaneous finite frequency redesign of the mechanical plant and controller using a convex separable parametrization. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with disturbance attenuation capabilities at the phase-stabilized resonant modes. An identical closed-loop performance is achieved with a reduced-order controller from considering the mechanical realization of controller anti-resonant zeros.

引用

页码：6448 / 6453

页数：6

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