Einladung zum Vortrag im Kolloquium Technische Kybernetik
Feedforward control design for nonlinear systems
under input and output constraints
Dipl.-Ing. Knut Graichen
Institut für Systemdynamik
Universität Stuttgart
Zeit: Dienstag · 11. 7. 2006 · 16:00 Uhr
Ort: Seminarraum 3.241 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen
Abstract
A common feedforward control problem is the realization of finite-time
setpoint transitions. Typical examples are e.g. rest-to-rest motions
of mechatronic systems or load changes in process control.
This talk presents a new approach for inversion-based feedforward
control design of nonlinear systems.
The inversion-based design treats the setpoint transition as a
two-point boundary value problem (BVP) in the coordinates of the
input/output normal form.
Thereby, a sufficient number of free parameters is provided in the
output trajectory to solve the overdetermined BVP of the internal
dynamics. The resulting BVP with free parameters can be solved
numerically e.g. with the Matlab function bvp4c.
The approach is also applicable to nonminimum-phase systems
and allows to directly incorporate constraints on the input, the
output, and its time derivatives within the formulation of the
BVP. The feedforward control design and the incorporation of the
constraints are illustrated by swing-up and side-stepping scenarios of
different double/triple pendulum systems both with nominal and
experimental results.
Biographical Information
Knut Graichen graduated in "Engineering Cybernetics" at
Universität Stuttgart in 2002. During his studies, he was with
Robert Bosch Corp., Research and Technology Center North America (RTC)
in Palo Alto, CA (USA) for doing an internship and his diploma thesis.
Since 2003, he is a research assistant and PhD student at
"Institut für Systemdynamik", Universität Stuttgart.
His main research interests are in nonlinear feedforward/feedback
control design and differential flatness with applications to
mechatronic systems and chemical engineering.
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