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Communication Dans Un Congrès Année : 2022

Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation

Résumé

A control strategy consisting of a feedforward action and a robust feedback for a gate automation is presented, where a low-cost and non-regenerative motor drive is used. A model of the system is developed and feedback linearization is used to compensate for the highly nonlinear dynamics of the electric drive. To achieve good motion tracking performance we design a smooth reference associated with a feedforward action, based on the nominal model of the system. In addition, based on a model of the uncertainties a robust feedback controller is tuned by solving a set of linear matrix inequalities, combining the optimization of a LQR cost with some pole placement constraints. Finally, we test the proposed control strategy on an experimental device, obtaining satisfactory results.
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Dates et versions

hal-03865019 , version 1 (22-11-2022)

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Daniel Cunico, Angelo Cenedese, Luca Zaccarian, Mauro Borgo. Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation. 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Feb 2022, Padova, Italy. pp.370-375, ⟨10.1109/AMC51637.2022.9729325⟩. ⟨hal-03865019⟩
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