scholarly journals Comparison of the Optimal Feedback Control Systems with Inaccessible State Variables

1971 ◽  
Vol 7 (5) ◽  
pp. 393-400
Author(s):  
Pyong Sik PAK ◽  
Yutaka SUZUKI ◽  
Katsuhiko FUJII
Keyword(s):  
Feedback Control ◽  
Control Systems ◽  
Optimal Feedback Control ◽  
State Variables ◽  
Optimal Feedback ◽  
Feedback Control Systems

Motion Control of a Piezopolymer Bimorph Flexible Microactuator

1995 ◽  
Vol 7 (6) ◽  
pp. 467-473 ◽  
Author(s):  
Minoru Sasaki ◽  
◽  
Masayuki Okugawa
Keyword(s):  
Feedback Control ◽  
State Vector ◽  
Vinylidene Fluoride ◽  
Controller Design ◽  
Design Method ◽  
Optimal Feedback Control ◽  
State Variables ◽  
Optimal Feedback ◽  
Full State ◽  
Poly Vinylidene Fluoride

An optimal feedback control of a flexible microactuator made of a bimorph piezoelectric high-polymer material (PVDF: Poly Vinylidene Fluoride), is proposed in this paper. This optimal feedback control is based on the assumption that the full state vector of the system is available for measurement although practically all state variables are very difficult to measure in the case of a distributed parameter system. An observer is used to estimate the entire state vector of the system, but the presence of sensor noise tends to adversely affect the convergence of the observer. This naturally leads to a stochastic observer commonly known as the Kalman filter. Numerical and experimental results demonstrate the effectiveness of the proposed controller design method.

scholarly journals Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

2007 ◽  
Vol 2007 ◽  
pp. 1-23 ◽  
Author(s):  
Vikas Panwar ◽  
N. Sukavanam
Keyword(s):  
Neural Network ◽  
Feedback Control ◽  
Dynamic Model ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Optimal Feedback Control ◽  
Control Law ◽  
State Variables ◽  
Bounded Control ◽  
Optimal Feedback

The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

Synthesis of Optimal Feedback Control Systems With Model Feedback Observers

1974 ◽  
Vol 96 (4) ◽  
pp. 470-474 ◽  
Author(s):  
K. Ichikawa
Keyword(s):  
Control System ◽  
Feedback Control ◽  
State Vector ◽  
Design Method ◽  
The State ◽  
Optimal Feedback Control ◽  
Feedback Control System ◽  
Linear Quadratic ◽  
Optimal Feedback ◽  
Feedback Control Systems

This paper deals with an inaccessible control problem for a discrete time linear fixed parameter system. It is well known that when the state vector is completely detectable, an optimal feedback control system can be constructed for the so-called linear quadratic problem, at least theoretically. When the state vector is not completely detectable, the problem is not so straightforward, and many different approaches or devices have been tried. In this paper, the state vector of the controlled system is restored by an observer in order to generate optimal control. Under some appropriate assumptions, the state vector is restored within at most v stages, where v is the quotient of n divided by m (n = dimension of state vector, m = dimension of output vector, with divisibility assumed in this paper). The design method for such an observer reduces to the design of a minimum stage regulator and is explained in detail in this paper. Finally, the characteristics of the feedback control system with an observer are examined numerically and compared with those of an optimal feedback control system with complete state detectability.

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