DocumentCode :
991146
Title :
Proximate time-optimal control of third-order servomechanisms
Author :
Pao, L.Y. ; Franklin, G.F.
Author_Institution :
MITRE Corp., Bedford, MA, USA
Volume :
38
Issue :
4
fYear :
1993
fDate :
4/1/1993 12:00:00 AM
Firstpage :
560
Lastpage :
580
Abstract :
The problem of proximate time-optimal control of third-order systems is considered. Two proximate time-optimal servomechanisms, PTO53 and PTO53τ, are proposed for type-3 and type-2 third-order plants, respectively. Theorems stating sufficient conditions on each system´s control design parameters to ensure global stability are given, and it is shown that the control parameters can be adjusted to accommodate, more or less, disturbances and unmodeled dynamics in the system. The approach used to develop the controllers is that of constructing a `slab´ in three-dimensional state space that describe the `switching´ structure of the control. The technique relies on three-dimensional phase-space analysis, which is rarely applied to systems of order three or higher. Simulation and experimental results demonstrate the performance of the algorithms developed
Keywords :
control system synthesis; optimal control; phase space methods; servomechanisms; stability; state-space methods; PTO53; PTO53τ; disturbances; global stability; proximate time-optimal control; sufficient conditions; switching structure; third-order servomechanisms; three-dimensional phase-space analysis; three-dimensional state space; type-2; type-3; unmodeled dynamics; Control design; Control systems; Optimal control; Position measurement; Robot sensing systems; Robust control; Servomechanisms; Stability; State-space methods; Velocity measurement;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/9.250524
Filename :
250524
Link To Document :
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