Motion control of elastic joint based on Kalman optimization with evolutionary algorithm

被引：0

作者：

Caux, Stephane ^{[1
]}

Carriere, Sebastien ^{[1
]}

Fadel, Maurice ^{[1
]}

Sareni, Bruno ^{[1
]}

机构：

[1] Univ Toulouse, F-31071 Toulouse 7, France

来源：

2009 IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING | 2009年

关键词：

motion control; robust control; Kalman filtering; Stiffness variation; Evolutionary algorithm;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Actual industrial ambition is to remove a maximum of sensor to improve reliability and cost. Performances are then decreasing a lot, specially for a system with variable parameters and direct drives. Moreover, a two-mass system representing numerous class of industrial problem can become unstable. Keeping stability, a simple controller and observer tuning approach and a lower time consuming are main goals of this study. A previous calculated state feedback is used as base for two Kalman filters with special a noise matrix. An evolutionary algorithm optimizes observer's degrees of freedom to keep stability all over the stiffness variation. The results show that the stability and performances are kept on an experimental test bench.

引用

页码：734 / 738

页数：5

共 8 条

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[2]

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[3]

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[4]

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[5]

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[6]

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[7]

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Szabat, Krzysztof ;

Orlowska-Kowalska, Teresa .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (03) :1075-1084

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