Control design for a class of multivariable nonlinear system with uncertain control direction: A laser cladding case study

被引：11

作者：

Bejarano-Rincon, A. ^{[1
,2
]}

Estrada, A. ^{[1
,3
]}

Herrera-Hernandez, E. C. ^{[4
]}

Alvarado-Orozco, J. M. ^{[1
,2
]}

机构：

[1] Ctr Engn & Ind Dev CIDESI, Av Playa Pie Cuesta 702, Desarrollo San Pablo 76125, Queretaro, Mexico

[2] CONMAD, Addit Mfg Consortium, Av Playa Pie Cuesta 702, Desarrollo San Pablo 76125, Queretaro, Mexico

[3] Natl Council Sci & Technol CONACYT, Av Insurgentes Sur 1582, Ciudad De Mexico 03940, Mexico

[4] Autonomous Univ San Luis Potosi, Av Dr Manuel Nava 6, San Luis Potosi 78210, San Luis Potosi, Mexico

来源：

EUROPEAN JOURNAL OF CONTROL | 2021年 / 60卷

关键词：

Robust MIMO control; Uncertain control direction; Additive manufacturing; Temperature control; Height control; Lyapunov analysis; PREDICTIVE CONTROL;

D O I：

10.1016/j.ejcon.2021.04.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work, the design of a controller for a multiple-input multiple-output (MIMO) nonlinear system with uncertain control direction is proposed. A formal Lyapunov stability analysis is presented for the design of the MIMO controller by considering the system with and without parametric uncertainties. The design is applied to an additive manufacturing technology known as Laser Cladding (LC). The proposed MIMO controller is composed of a feedback linearization term (aimed at canceling the known nominal dynamics) and a sliding mode term with the boundary layer technique (aimed at compensating the system uncertainties). The proposed control scheme was tested via simulations by considering tracks of two different powder feedstock, Ti6Al4V and IN718. Simulation results confirm that the control objective is achieved under parametric uncertainties, including variations up to 40% of the convection coefficient. Moreover, the control law is easy to implement and the control signal has a continuous behavior precluding any high-frequency oscillation (chattering effect). (c) 2021 European Control Association. Published by Elsevier Ltd. All rights reserved.

引用

页码：114 / 124

页数：11

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