A Robust Filtered Basis Functions Approach for Feedforward Tracking Control—With Application to a Vibration-Prone 3-D Printer
A Robust Filtered Basis Functions Approach for Feedforward Tracking Control—With Application to a Vibration-Prone 3-D Printer
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DOI：
10.1109/tmech.2020.2983680
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
Keval S. Ramani;Nosakhare Edoimioya;C. Okwudire
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文献类型：
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作者：
Keval S. Ramani;Nosakhare Edoimioya;C. Okwudire
滤波基函数（FBF）方法在线性，特别是非最小相位系统的前馈跟踪控制中越来越受到关注。它将被控对象的控制输入表示为具有未知系数的基函数的线性组合。基函数通过对象动力学前向滤波，并选取跟踪误差最小的系数。本文提出了一种鲁棒FBF方法用于具有已知不确定性的线性时不变系统的跟踪控制。鲁棒滤波器是一个最优控制器的逆，它在已知的不确定性上最小化频域成本函数。提出的鲁棒FBF方法使用鲁棒滤波器代替标称植物动力学对基函数进行滤波。讨论了与鲁棒滤波器相关的稳定性问题，以及将动态不确定性纳入鲁棒滤波器的问题。应用于具有动态不确定性的易振动台式3d打印机，与标准FBF方法相比，鲁棒FBF方法显著提高了跟踪精度。
The filtered basis functions (FBF) approach is gaining interest for feedforward tracking control of linear, especially, nonminimum phase systems. It expresses the control input to the plant as a linear combination of basis functions with unknown coefficients. The basis functions are forward filtered through the plant dynamics and the coefficients are selected such that the tracking error is minimized. This article proposes a robust FBF approach for tracking control of linear time invariant systems with known uncertainty. A robust filter is formulated as the inverse of an optimal controller that minimizes a frequency-domain cost function over the known uncertainty. The proposed robust FBF approach filters the basis functions using the robust filter in lieu of the nominal plant dynamics. Stability issues associated with the robust filter are discussed, as are the incorporation of dynamic uncertainty into the robust filter. Applied to a vibration-prone desktop 3-D printer with dynamic uncertainty, significant improvements in tracking accuracy are demonstrated using the robust FBF approach compared to the standard FBF approach.