Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866917941632565248 |
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| author | Shahna, Mehdi Heydari Mustalahti, Pauli Mattila, Jouni |
| author_facet | Shahna, Mehdi Heydari Mustalahti, Pauli Mattila, Jouni |
| contents | This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for `victory') algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_12406 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System Shahna, Mehdi Heydari Mustalahti, Pauli Mattila, Jouni Systems and Control This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for `victory') algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control. |
| title | Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.12406 |