He, C, Huang, K, Zhao, H et al. (2 more authors) (2023) Iterative feedback tuning for optimal repetitive constraint-following control of uncertain mechanical systems using Udwadia–Kalaba theory. Optimal Control Applications and Methods, 44 (3). pp. 1235-1250. ISSN 0143-2087
Abstract
This article presents a novel optimal constraint-following controller for uncertain mechanical systems (MSs). The MS's uncertainty is unknown (possibly time-varying) and bounded, but the bound is unspecified. Employing the frame of Udwadia–Kalaba theory, we design a robust controller with two tunable control gains for MSs, which guarantees some deterministic performances. Assuming the constraints to be holonomic and periodic, we transform the controlled MSs and introduce an iterative feedback tuning method for optimizing the proposed controller. After optimization, the final control scheme can achieve the equilibrium between the system performance and control cost for an arbitrary single constraint period. Simulations on a two-link rotational manipulator are provided at last to demonstrate the proposed approach.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This item is protected by copyright. This is the peer reviewed version of the following article: He, C, Huang, K, Zhao, H, Zheng, Y, Xie, S. Iterative feedback tuning for optimal repetitive constraint-following control of uncertain mechanical systems using Udwadia–Kalaba theory. Optim Control Appl Meth. 2021; 1- 16, which has been published in final form at https://doi.org/10.1002/oca.2838. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited. |
Keywords: | constraint following; iterative feedback tuning; optimal robust control; Udwadia–Kalaba theory; uncertain mechanical systems |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 09 Feb 2022 15:26 |
Last Modified: | 27 Jul 2023 08:36 |
Published Version: | https://onlinelibrary.wiley.com/doi/10.1002/oca.28... |
Status: | Published |
Publisher: | Wiley |
Identification Number: | 10.1002/oca.2838 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:183228 |