TR2017-059
Extended Command Governors for Constraint Enforcement in Dual-Stage Processing Machines
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- "Extended Command Governors for Constraint Enforcement in Dual-Stage Processing Machines", American Control Conference (ACC), DOI: 10.23919/ACC.2017.7963278, May 2017.BibTeX TR2017-059 PDF
- @inproceedings{Kalabic2017may,
- author = {Kalabić, Uroš and Goldsmith, Abraham and Di Cairano, Stefano},
- title = {Extended Command Governors for Constraint Enforcement in Dual-Stage Processing Machines},
- booktitle = {American Control Conference (ACC)},
- year = 2017,
- month = may,
- doi = {10.23919/ACC.2017.7963278},
- url = {https://www.merl.com/publications/TR2017-059}
- }
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- "Extended Command Governors for Constraint Enforcement in Dual-Stage Processing Machines", American Control Conference (ACC), DOI: 10.23919/ACC.2017.7963278, May 2017.
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MERL Contacts:
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Research Area:
Abstract:
This manuscript presents a scheme for the constrained control of a dual-stage system used in precision manufacturing. The system consists of two stages, a fast and a slow stage, whose actuators have different bandwidths. The fast stage is primarily constrained in its range of operation, and the slow stage is primarily constrained in allowable velocity and acceleration. The constrained control is based on the extended command governor, which is a constraint-enforcement scheme used for closed-loop systems subject to state and control constraints. A method of dividing the motion between fast and slow stages is presented which is based on tracking a minimal-motion reference for the slow stage. The extended command governor scheme is modified to simultaneously ensure constraint-admissible tracking of the minimal-motion reference and machining of the desired manufacturing pattern. Numerical simulation results are reported, showing successful tracking and constraint enforcement.
Related News & Events
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NEWS Uros Kalabic spoke on reference governors at the MSU Mechanical Engineering Seminar Date: February 12, 2019
Where: Michigan State University
MERL Contacts: Scott A. Bortoff; Stefano Di Cairano; Abraham Goldsmith
Research Areas: Control, Dynamical SystemsBrief- Uros Kalabic, of MERL's Control and Dynamical Systems group, gave a talk at the Michigan State University Mechanical Engineering Seminar. The talk, entitled "Reference governors: Industrial applications and theoretical advances," covered some of the exciting research being done at MERL on reference governors and briefly described MERL's other research areas. The abstract of the talk can be found via the link below.