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Hybrid theory based model predictive control of electrical drives with friction
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| Author(s) |
I. Petroviæ; M. Baotiæ; L. Matiæ; N. Periæ |
| Abstract |
In this paper hybrid theory has been applied to design a state-feedback control law of an electrical
drive with friction. The drive is modeled as a piecewise affine (PWA) system and a finite time optimal
control problem is formulated for such a hybrid system. Three most often used friction models are
considered and compared based on their suitability for the PWA description. It is shown that a resetintegrator
friction model gives a PWA model of smaller complexity than LuGre and Karnopp friction
models. A state-feedback optimal control law in a form of a look-up table is then derived via dynamic
programming. The control system behavior is tested by computer simulations. The results indicate that
the proposed control strategy is a valuable alternative to the currently used control strategies. |
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| Filename: | EPE2003-PP0843 - Petrovic |
| Filesize: | 339 KB |
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| Type |
Members Only |
| Date |
Last modified 2003-10-24 by Unknown |
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