Update the main control.org file
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docs/figs/2dof_system_stiffness_uncertainty_payload.pdf
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docs/figs/2dof_system_stiffness_uncertainty_payload.pdf
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docs/figs/2dof_system_stiffness_uncertainty_payload.png
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docs/figs/2dof_system_stiffness_uncertainty_payload.png
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docs/figs/control_architecture_hac_iff_pos_X.pdf
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docs/figs/control_architecture_hac_iff_pos_X.pdf
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@ -118,7 +118,7 @@ Combining both can be done in an HAC-LAC topology presented in Section [[sec:hac
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The use of decentralized controllers is proposed in Section [[sec:cascade_control]].
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* Tracking Control - Basic Architectures
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* Tracking Control in the Frame of the Nano-Hexapod - Basic Architectures
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<<sec:tracking_control>>
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** Introduction :ignore:
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In this section, we suppose that we want to track some reference position $\bm{r}_{\mathcal{X}_n}$ corresponding to the pose of the nano-hexapod's mobile platform with respect to its fixed base.
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@ -209,7 +209,7 @@ These forces are then converted to forces applied in each of the nano-hexapod's
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#+RESULTS:
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[[file:figs/control_architecture_cartesian_frame.png]]
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* Active Damping Architecture - Collocated Control
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* Active Damping Architecture - Collocated Control ([[file:control_active_damping.org][link]])
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<<sec:active_damping>>
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** Introduction :ignore:
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From cite:preumont18_vibrat_contr_activ_struc_fourt_edition:
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@ -222,6 +222,8 @@ Two very well known active damping techniques are *Integral Force Feedback* and
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These two active damping techniques are collocated control techniques.
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The active damping techniques are studied in [[file:control_active_damping.org][this]] document.
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** Integral Force Feedback
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<<sec:active_damping_iff>>
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@ -307,7 +309,7 @@ Each diagonal element consists of:
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#+RESULTS:
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[[file:figs/control_architecture_dvf.png]]
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* HAC-LAC Architectures
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* HAC-LAC Architectures ([[file:control_hac_lac.org][link]])
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<<sec:hac_lac>>
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** Introduction :ignore:
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Here we can combine Active Damping Techniques (Low authority control) with a tracking controller (high authority control).
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@ -475,7 +477,44 @@ Usually, the Low Authority Controller is first design, and then the High Authori
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#+RESULTS:
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[[file:figs/control_architecture_hac_iff_X.png]]
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* Cascade Architectures
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** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite
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#+begin_src latex :file control_architecture_hac_iff_pos_X.pdf
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\begin{tikzpicture}
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% Blocs
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\node[block={3.0cm}{3.0cm}] (P) {Plant};
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\coordinate[] (inputF) at ($(P.south west)!0.5!(P.north west)$);
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\coordinate[] (outputF) at ($(P.south east)!0.8!(P.north east)$);
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\coordinate[] (outputX) at ($(P.south east)!0.5!(P.north east)$);
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\coordinate[] (outputL) at ($(P.south east)!0.2!(P.north east)$);
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\node[block, above=0.4 of P] (Kiff) {$\bm{K}_\text{IFF}$};
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\node[addb={+}{}{-}{}{}, left= of inputF] (addF) {};
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\node[block, left= of addF] (J) {$\bm{J}^{-T}$};
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\node[block, left= of J] (K) {$\bm{K}_\mathcal{X}$};
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\node[block, align=center, left= of K] (Ex) {Compute\\Pos. Error};
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% Connections and labels
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\draw[->] (outputF) -- ++(1, 0) node[below left]{$\bm{\tau}_m$};
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\draw[->] ($(outputF) + (0.6, 0)$)node[branch]{} |- (Kiff.east);
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\draw[->] (Kiff.west) -| (addF.north);
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\draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$};
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\draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$};
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\draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$};
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\draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -2) -| (Ex.south);
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\draw[<-] (Ex.west)node[above left]{$\bm{r}_{\mathcal{X}}$} -- ++(-1, 0);
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\draw[->] (Ex.east) -- (K.west) node[above left]{$\bm{\epsilon}_{\mathcal{X}_n}$};
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\draw[->] (K.east) -- (J.west) node[above left]{$\bm{\mathcal{F}}$};
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\draw[->] (J.east) -- (addF.west) node[above left]{$\bm{\tau}^\prime$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/control_architecture_hac_iff_pos_X.png]]
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* Cascade Architectures ([[file:control_cascade.org][link]])
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<<sec:cascade_control>>
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** Introduction :ignore:
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The principle of Cascade control is shown in Figure [[fig:control_architecture_cascade_control]] and explained as follow:
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@ -649,13 +688,13 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
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#+RESULTS:
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[[file:figs/control_architecture_cascade_X.png]]
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* Sensor Fusion Architectures
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* Sensor Fusion Architectures :noexport:
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<<sec:sensor_fusion>>
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* $\mathcal{H}_\infty$ Architectures
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* $\mathcal{H}_\infty$ Architectures :noexport:
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<<sec:h_infinity>>
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* Force Control
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* Force Control ([[file:control_force.org][link]])
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Signals:
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- $\bm{r}_\mathcal{F}$ is the wanted total force/torque to be applied to the payload
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- $\bm{\epsilon}_\mathcal{F}$ is the force/torque errors that should be applied to the payload
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@ -692,6 +731,7 @@ Signals:
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#+RESULTS:
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[[file:figs/control_architecture_force.png]]
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* Bibliography :ignore:
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bibliographystyle:unsrt
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bibliography:ref.bib
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