Title :
Optimal control of an holonomic system: Feedforward design and LQR control for a “pick and place” system
Author :
Salah, Asma ; Chatti, Abderrazak
Author_Institution :
Res. in Autom., Mechatron. & Intell. Syst. (RAMIS), INSAT Centre Urbain Nord, Tunis, Tunisia
Abstract :
The goal of this paper is to optimize the performances of holonomic systems in particular “pick and place” systems: time execution, precision and energy. The command generation is divided into two main functions: The elaboration of a movement law for the system states to control minimizing the time execution via the bang-bang control, which is used as a reference for controls (indirect control using the LQR approach); the definition of a feedforward transforming the movement law into a reference signal for the input of the physical system (direct control).
Keywords :
bang-bang control; control system synthesis; feedforward; industrial robots; linear quadratic Gaussian control; materials handling; LQR control; bang-bang control; feedforward design; holonomic systems; movement law; optimal control; pick and place systems; time execution minimization; Feedforward neural networks; Load modeling; Mathematical model; Optimal control; Robots; Trajectory; Holonomic systems; LQR control; command generation; contour tracking; feedforward; flatness; motion law; optimal control; pick and place;
Conference_Titel :
Systems, Signals and Devices (SSD), 2011 8th International Multi-Conference on
Conference_Location :
Sousse
Print_ISBN :
978-1-4577-0413-0
DOI :
10.1109/SSD.2011.5767380
