Nonlinear setpoint regulation of dynamically redundant actuators

Thomas Ernst Passenbrunner; Mario Sassano; Luca Zaccarian

Nonlinear setpoint regulation of dynamically redundant actuators

Thomas Ernst Passenbrunner, Mario Sassano, Luca Zaccarian

Institute of Design and Control of Mechatronical Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application.

Original language	English
Title of host publication	Proceedings of the American Control Conference 2012
Number of pages	6
Publication status	Published - Jun 2012

Fields of science

203 Mechanical Engineering
202034 Control engineering
202012 Electrical measurement technology
206 Medical Engineering
202027 Mechatronics
202003 Automation
203027 Internal combustion engines
207109 Pollutant emission

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Nonlinear setpoint regulation of dynamically redundant actuators",

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AB - In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application.

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