Title: Robust path tracking by preshaping approach designed for third generation CRONE control

Authors: Rim Jallouli-Khlif; Pierre Melchior; Nabil Derbel; Alain Oustaloup

Addresses: Research Unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia. ' IMS (UMR 5218 CNRS, Université Bordeaux 1 – IPB/ENSEIRB-TIATMECA), Département LAPS Bât. A4, 351 Cours de la Libération, F33405 Talence Cedex, France. ' Research Unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia. ' IMS (UMR 5218 CNRS, Université Bordeaux 1 – IPB/ENSEIRB-TIATMECA), Département LAPS Bât. A4, 351 Cours de la Libération, F33405 Talence Cedex, France

Abstract: Preshaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by Singer and Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of 'commande robuste d'ordre non-entier') control system design is a frequency-domain-based methodology using complex fractional integration. It permits the robust control of perturbed linear plants using the common unity feedback configuration. This paper presents the extension of the preshaping approach to generalised derivative systems and its application to third generation CRONE control. Then, to ensure robust path tracking, a robust algorithm for the shaper synthesis is developed.

Keywords: robust control; path tracking; input shaping; motion control; third generation CRONE control; fractional systems; system vibration; control design; perturbed linear plants; shaper synthesis.

DOI: 10.1504/IJMIC.2012.045218

International Journal of Modelling, Identification and Control, 2012 Vol.15 No.2, pp.125 - 133

Published online: 30 Jan 2012 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article