Model reference control with command shaping for a micro-electromagnetic actuator with input constraints

Gerald Eaglin; Joshua Vaughan

doi:10.1115/DSCC2019-9162

Model reference control with command shaping for a micro-electromagnetic actuator with input constraints

Gerald Eaglin, Joshua Vaughan

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

1 Scopus citations

Abstract

Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.

Original language	English
Title of host publication	Rapid Fire Interactive Presentations
Subtitle of host publication	Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791859162
DOIs	https://doi.org/10.1115/DSCC2019-9162
State	Published - 2019
Externally published	Yes
Event	ASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States Duration: Oct 8 2019 → Oct 11 2019

Publication series

Name	ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Volume	3

Conference

Conference	ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/Territory	United States
City	Park City
Period	10/8/19 → 10/11/19

Funding

The authors would like to acknowledge the Louisiana Board of Regents for funding the Louisiana Board of Regents Support Fund Fellowship.

Access to Document

10.1115/DSCC2019-9162

Cite this

Eaglin, G., & Vaughan, J. (2019). Model reference control with command shaping for a micro-electromagnetic actuator with input constraints. In Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2019-9162

Eaglin, Gerald ; Vaughan, Joshua. / Model reference control with command shaping for a micro-electromagnetic actuator with input constraints. Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles. American Society of Mechanical Engineers (ASME), 2019. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019).

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title = "Model reference control with command shaping for a micro-electromagnetic actuator with input constraints",

abstract = "Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.",

author = "Gerald Eaglin and Joshua Vaughan",

note = "Publisher Copyright: {\textcopyright} 2019 ASME.; ASME 2019 Dynamic Systems and Control Conference, DSCC 2019 ; Conference date: 08-10-2019 Through 11-10-2019",

year = "2019",

doi = "10.1115/DSCC2019-9162",

language = "English",

series = "ASME 2019 Dynamic Systems and Control Conference, DSCC 2019",

publisher = "American Society of Mechanical Engineers (ASME)",

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Eaglin, G & Vaughan, J 2019, Model reference control with command shaping for a micro-electromagnetic actuator with input constraints. in Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles. ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, vol. 3, American Society of Mechanical Engineers (ASME), ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, Park City, United States, 10/8/19. https://doi.org/10.1115/DSCC2019-9162

Model reference control with command shaping for a micro-electromagnetic actuator with input constraints. / Eaglin, Gerald; Vaughan, Joshua.
Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles. American Society of Mechanical Engineers (ASME), 2019. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; Vol. 3).

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

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N2 - Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.

AB - Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.

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Eaglin G, Vaughan J. Model reference control with command shaping for a micro-electromagnetic actuator with input constraints. In Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles. American Society of Mechanical Engineers (ASME). 2019. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019). doi: 10.1115/DSCC2019-9162

Model reference control with command shaping for a micro-electromagnetic actuator with input constraints

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