H∞-optimal strictly positive real parallel feedforward control

Ryan Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents static and dynamic parallel feedforward controller synthesis methods that render a linear time-invariant system strictly positive real (SPR) in an H∞-optimal fashion. The parallel feedforward controller is designed in such a manner that when the output of the system is added to the output of the parallel feedforward controller, the transfer matrix from the system input to the new output is SPR. In order to ensure that the difference between the new output and the original system output is small, the maximum singular value of a static parallel feedforward controller or the weighted H∞ norm of a dynamic parallel feedforward controller is minimized. The proposed synthesis methods are convex optimization problems that make use of linear matrix inequality and equality constraints. The controllers are implemented numerically on a flexible-joint robotic manipulator and compared to a parallel feedforward controller from the literature. It is shown in closed-loop simulation that a significant improvement in tracking error is achieved with one of the proposed dynamic parallel feedforward controller synthesis methods.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5185-5190
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

Fingerprint

Feedforward control
Controllers
Convex optimization
Linear matrix inequalities
Manipulators
Robotics

Cite this

Caverly, R., & Forbes, J. R. (2019). H∞-optimal strictly positive real parallel feedforward control. In 2019 American Control Conference, ACC 2019 (pp. 5185-5190). [8814451] (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc..

H∞-optimal strictly positive real parallel feedforward control. / Caverly, Ryan; Forbes, James Richard.

2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5185-5190 8814451 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Caverly, R & Forbes, JR 2019, H∞-optimal strictly positive real parallel feedforward control. in 2019 American Control Conference, ACC 2019., 8814451, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 5185-5190, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 7/10/19.
Caverly R, Forbes JR. H∞-optimal strictly positive real parallel feedforward control. In 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 5185-5190. 8814451. (Proceedings of the American Control Conference).
Caverly, Ryan ; Forbes, James Richard. / H∞-optimal strictly positive real parallel feedforward control. 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 5185-5190 (Proceedings of the American Control Conference).
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