Periodic tracking control using gain-scheduled fourier series-based internal models

Dylan Caverly, Ryan James Caverly, James Richard Forbes

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

Abstract

This paper presents a gain-scheduled controller composed of a number of positive real controllers that contain internal models of reference command signals. Using the internal model principle as inspiration, and the Passivity Theorem to assure input-output closed-loop stability, the proposed controller is designed to realize tracking while maintaining input-output stability of the closed-loop system. The gain-scheduled nature of the internal models allows for a number of internal models to be simultaneously implemented. In particular, by expressing a periodic reference command as a Fourier series, the first few Fourier modes can be included as internal models in the controllers to be gain-scheduled, which reduces steady-state tracking error. An example involving tracking the outlet temperature of a heat exchanger is presented, where the first nine Fourier modes of the reference signal are used as internal models to reduce tracking error.

Original languageEnglish (US)
Title of host publicationRapid Fire Interactive Presentations
Subtitle of host publicationAdvances 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
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859162
DOIs
StatePublished - Jan 1 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: Oct 8 2019Oct 11 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Volume3

Conference

ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
CountryUnited States
CityPark City
Period10/8/1910/11/19

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Caverly, D., Caverly, R. J., & Forbes, J. R. (2019). Periodic tracking control using gain-scheduled fourier series-based internal models. 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/DSCC2019-8945