Probabilistically Tuned LQ Control for Mechatronic Systems
K. Belda
Czech Academy of Sciences
Abstract
Mechatronic systems comprise elemental part of production machines and industrial robots. The key task is a design of their suitable control, which should ensure safe control actions in spite of sudden changes of working conditions. The paper presents specific probabilistic interpretation of well-known Linear Quadratic control. This interpretation employs complex information on system behavior and gives physical meaning for fine-tuning of control parameters. The principles of fully probabilistic design with emphasis on on-line tuning are demonstrated on physical model of gearbox mechatronic system representing flexible mechanism occurring in rolling mill machines.
Full paper
Session
Linear and Non-linear Control System Design (Lecture)
Reference
Belda, K.: Probabilistically Tuned LQ Control for Mechatronic Systems. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 37–43, 2009
BibTeX
| @inProceedings{pc09-003, | ||
| author | = { | Belda, K.}, |
| title | = { | Probabilistically Tuned LQ Control for Mechatronic Systems}, |
| booktitle | = { | Proceedings of the 17th International Conference on Process Control '09}, |
| year | = { | 2009}, |
| pages | = { | 37-43}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Štrbské Pleso, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc09/data/papers/003.pdf}} |