文章基本信息

标题：Tracking Control of Constant-Linear-Velocity Spiral Reference by LQG Method
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作者：Ali Bazaei ; Mohammad Maroufi ; S.O. Reza Moheimani 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15568-15573
DOI：10.1016/j.ifacol.2017.08.1882
语种：English
出版社：Elsevier
摘要：AbstractWe report an extension of a recent LQG control method to track reference signals by which a constant-linear-velocity (CLV) spiral scan pattern is generated. In contrast to the constant-angular-velocity (CAV) spiral pattern, the instantaneous frequency of the CLV sinusoidal references considerably varies over the scan period. In addition, the reference amplitude is a nonlinear function of time, making the tracking of a CLV spiral reference a more challenging control objective. Considerable improvement in the tracking performance of the proposed time-varying controller is demonstrated through a reference scaling method. Experimental implementation on a MEMS nanopositioner further illustrates applicability of the proposed control approach.
关键词：KeywordsLQG ControlSpiral TrajectoryConstant Linear VelocityNanopositioning