TY - GEN
T1 - Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
AU - Heydari Shahna, Mehdi
AU - Mustalahti, Pauli
AU - Mattila, Jouni
PY - 2024/10/25
Y1 - 2024/10/25
N2 - This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for ‘victory’) algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control.
AB - This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for ‘victory’) algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control.
U2 - 10.1109/PEMC61721.2024.10726389
DO - 10.1109/PEMC61721.2024.10726389
M3 - Conference contribution
SN - 979-8-3503-8524-3
T3 - International Power Electronics and Motion Control Conference
BT - 2024 IEEE 21st International Power Electronics and Motion Control Conference (PEMC)
PB - IEEE
T2 - International Power Electronics and Motion Control Conference
Y2 - 30 September 2024 through 3 October 2024
ER -