Rework complementary filter's control

Rework decoupling section
Second review
2025-04-11 14:33:24 +02:00 · 2025-04-09 14:50:47 +02:00 · 2025-04-08 23:29:15 +02:00
27 changed files with 2742 additions and 3413 deletions
--- a/figs/detail_control_cf_arch.pdf
+++ b/figs/detail_control_cf_arch.pdf
--- a/figs/detail_control_cf_arch.png
+++ b/figs/detail_control_cf_arch.png
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--- a/figs/detail_control_cf_arch_class.pdf
+++ b/figs/detail_control_cf_arch_class.pdf
--- a/figs/detail_control_cf_arch_class_prefilter.pdf
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--- a/nass-control.bib
+++ b/nass-control.bib
@ -1,49 +1,3 @@
@inproceedings{mahony05_compl_filter_desig_special_orthog,
  author          = {R. Mahony and T. Hamel and J.-M. Pflimlin},
  title           = {Complementary Filter Design on the Special Orthogonal Group
                  SO(3)},
  booktitle       = {Proceedings of the 44th IEEE Conference on Decision and
                  Control},
  year            = 2005,
  doi             = {10.1109/cdc.2005.1582367},
  url             = {https://doi.org/10.1109/cdc.2005.1582367},
  keywords        = {complementary filters},
 }
@article{plummer06_optim_compl_filter_their_applic_motion_measur,
  author          = {A. R. Plummer},
  title           = {Optimal Complementary Filters and Their Application in
                  Motion Measurement},
  journal         = {Proceedings of the Institution of Mechanical Engineers,
                  Part I: Journal of Systems and Control Engineering},
  volume          = 220,
  number          = 6,
  pages           = {489-507},
  year            = 2006,
  doi             = {10.1243/09596518JSCE229},
  url             = {https://doi.org/10.1243/09596518JSCE229},
  keywords        = {complementary filters},
 }
@inproceedings{jensen13_basic_uas,
  author          = {Austin Jensen and Cal Coopmans and YangQuan Chen},
  title           = {Basics and guidelines of complementary filters for small
                  UAS navigation},
  booktitle       = {2013 International Conference on Unmanned Aircraft Systems
                  (ICUAS)},
  year            = 2013,
  doi             = {10.1109/icuas.2013.6564726},
  url             = {https://doi.org/10.1109/icuas.2013.6564726},
  keywords        = {complementary filters},
  month           = 5,
 }
@article{geng95_intel_contr_system_multip_degree,
  author          = {Z. Jason Geng and George G. Pan and Leonard S. Haynes and
                  Ben K. Wada and John A. Garba},
@ -61,38 +15,6 @@
@book{preumont18_vibrat_contr_activ_struc_fourt_edition,
  author          = {Andre Preumont},
  title           = {Vibration Control of Active Structures - Fourth Edition},
  year            = 2018,
  publisher       = {Springer International Publishing},
  url             = {https://doi.org/10.1007/978-3-319-72296-2},
  doi             = {10.1007/978-3-319-72296-2},
  keywords        = {favorite, parallel robot},
  series          = {Solid Mechanics and Its Applications},
 }
@article{wang16_inves_activ_vibrat_isolat_stewar,
  author          = {Wang, Chaoxin and Xie, Xiling and Chen, Yanhao and Zhang,
                  Zhiyi},
  title           = {Investigation on Active Vibration Isolation of a Stewart
                  Platform With Piezoelectric Actuators},
  journal         = {Journal of Sound and Vibration},
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  pages           = {1-19},
  year            = 2016,
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  url             = {https://doi.org/10.1016/j.jsv.2016.07.021},
  issn            = {0022-460X},
  keywords        = {parallel robot},
  month           = {Nov},
  publisher       = {Elsevier BV},
 }
@inproceedings{li01_simul_vibrat_isolat_point_contr,
  author          = {Xiaochun Li and Jerry C. Hamann and John E. McInroy},
  title           = {Simultaneous Vibration Isolation and Pointing Control of
@ -125,6 +47,25 @@
@article{wang16_inves_activ_vibrat_isolat_stewar,
  author          = {Wang, Chaoxin and Xie, Xiling and Chen, Yanhao and Zhang,
                  Zhiyi},
  title           = {Investigation on Active Vibration Isolation of a Stewart
                  Platform With Piezoelectric Actuators},
  journal         = {Journal of Sound and Vibration},
  volume          = 383,
  pages           = {1-19},
  year            = 2016,
  doi             = {10.1016/j.jsv.2016.07.021},
  url             = {https://doi.org/10.1016/j.jsv.2016.07.021},
  issn            = {0022-460X},
  keywords        = {parallel robot},
  month           = {Nov},
  publisher       = {Elsevier BV},
 }
@inproceedings{xie17_model_contr_hybrid_passiv_activ,
  author          = {Xie, Xiling and Wang, Chaoxin and Zhang, Zhiyi},
  title           = {Modeling and Control of A Hybrid Passive/Active Stewart
@ -183,56 +124,6 @@
@article{beijen14_two_sensor_contr_activ_vibrat,
  author          = {Michiel A. Beijen and Dirk Tjepkema and Johannes van Dijk},
  title           = {Two-Sensor Control in Active Vibration Isolation Using Hard
                  Mounts},
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  year            = 2014,
  doi             = {10.1016/j.conengprac.2013.12.015},
  url             = {https://doi.org/10.1016/j.conengprac.2013.12.015},
  keywords        = {complementary filters},
 }
@article{yong16_high_speed_vertic_posit_stage,
  author          = "Yuen K. Yong and Andrew J. Fleming",
  title           = {High-Speed Vertical Positioning Stage With Integrated
                  Dual-Sensor Arrangement},
  journal         = "Sensors and Actuators A: Physical",
  volume          = 248,
  pages           = "184 - 192",
  year            = 2016,
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  url             = {https://doi.org/https://doi.org/10.1016/j.sna.2016.06.042},
  issn            = "0924-4247",
  keywords        = {sesnsor fusion, complementary filters},
 }
@article{yang19_dynam_model_decoup_contr_flexib,
  author          = {Yang, XiaoLong and Wu, HongTao and Chen, Bai and Kang,
                  ShengZheng and Cheng, ShiLi},
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  journal         = {Journal of Sound and Vibration},
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  doi             = {10.1016/j.jsv.2018.10.007},
  url             = {https://doi.org/10.1016/j.jsv.2018.10.007},
  issn            = {0022-460X},
  keywords        = {parallel robot, flexure, decoupled control},
  month           = 1,
  publisher       = {Elsevier BV},
 }
@inproceedings{thayer98_stewar,
  author          = {D. Thayer and J. Vagners},
  title           = {A look at the pole/zero structure of a Stewart platform
@ -264,6 +155,25 @@
@article{yang19_dynam_model_decoup_contr_flexib,
  author          = {Yang, XiaoLong and Wu, HongTao and Chen, Bai and Kang,
                  ShengZheng and Cheng, ShiLi},
  title           = {Dynamic Modeling and Decoupled Control of a Flexible
                  Stewart Platform for Vibration Isolation},
  journal         = {Journal of Sound and Vibration},
  volume          = 439,
  pages           = {398-412},
  year            = 2019,
  doi             = {10.1016/j.jsv.2018.10.007},
  url             = {https://doi.org/10.1016/j.jsv.2018.10.007},
  issn            = {0022-460X},
  keywords        = {parallel robot, flexure, decoupled control},
  month           = 1,
  publisher       = {Elsevier BV},
 }
@inproceedings{mcinroy99_dynam,
  author          = {J.E. McInroy},
  title           = {Dynamic modeling of flexure jointed hexapods for control
@ -308,6 +218,180 @@
@article{furutani04_nanom_cuttin_machin_using_stewar,
  author          = {Katsushi Furutani and Michio Suzuki and Ryusei Kudoh},
  title           = {Nanometre-Cutting Machine Using a Stewart-Platform Parallel
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  year            = 2004,
  doi             = {10.1088/0957-0233/15/2/022},
  url             = {https://doi.org/10.1088/0957-0233/15/2/022},
  keywords        = {parallel robot, cubic configuration},
 }
@article{du14_piezo_actuat_high_precis_flexib,
  author          = {Zhijiang Du and Ruochong Shi and Wei Dong},
  title           = {A Piezo-Actuated High-Precision Flexible Parallel Pointing
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  journal         = {IEEE Transactions on Robotics},
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  number          = 1,
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  year            = 2014,
  doi             = {10.1109/tro.2013.2288800},
  url             = {https://doi.org/10.1109/tro.2013.2288800},
  keywords        = {parallel robot},
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  author          = {J.F. O'Brien and J.E. McInroy and D. Bodtke and M. Bruch
                  and J.C. Hamann},
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  year            = 1998,
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@article{kim00_robus_track_contr_desig_dof_paral_manip,
  author          = {Dong Hwan Kim and Ji-Yoon Kang and Kyo-Il Lee},
  title           = {Robust Tracking Control Design for a 6 Dof Parallel
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  keywords        = {parallel robot},
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@inproceedings{abbas14_vibrat_stewar_platf,
  author          = {Hussain Abbas and Huang Hai},
  title           = {Vibration isolation concepts for non-cubic Stewart Platform
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                  Pakistan, 14th - 18th January, 2014},
  year            = 2014,
  doi             = {10.1109/ibcast.2014.6778139},
  url             = {https://doi.org/10.1109/ibcast.2014.6778139},
  keywords        = {parallel robot},
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@article{lei08_multi_objec_robus_activ_vibrat,
  author          = {Liu Lei and Wang Benli},
  title           = {Multi Objective Robust Active Vibration Control for Flexure
                  Jointed Struts of Stewart Platforms Via $H_\infty$ and $\mu$
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  url             = {https://doi.org/10.1016/s1000-9361(08)60016-3},
  keywords        = {parallel robot},
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@article{jiao18_dynam_model_exper_analy_stewar,
  author          = {Jian Jiao and Ying Wu and Kaiping Yu and Rui Zhao},
  title           = {Dynamic Modeling and Experimental Analyses of Stewart
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  year            = 2018,
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  url             = {https://doi.org/10.1177/1077546318772474},
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@inproceedings{mahony05_compl_filter_desig_special_orthog,
  author          = {R. Mahony and T. Hamel and J.-M. Pflimlin},
  title           = {Complementary Filter Design on the Special Orthogonal Group
                  SO(3)},
  booktitle       = {Proceedings of the 44th IEEE Conference on Decision and
                  Control},
  year            = 2005,
  doi             = {10.1109/cdc.2005.1582367},
  url             = {https://doi.org/10.1109/cdc.2005.1582367},
  keywords        = {complementary filters},
 }
@article{plummer06_optim_compl_filter_their_applic_motion_measur,
  author          = {A. R. Plummer},
  title           = {Optimal Complementary Filters and Their Application in
                  Motion Measurement},
  journal         = {Proceedings of the Institution of Mechanical Engineers,
                  Part I: Journal of Systems and Control Engineering},
  volume          = 220,
  number          = 6,
  pages           = {489-507},
  year            = 2006,
  doi             = {10.1243/09596518JSCE229},
  url             = {https://doi.org/10.1243/09596518JSCE229},
  keywords        = {complementary filters},
 }
@inproceedings{jensen13_basic_uas,
  author          = {Austin Jensen and Cal Coopmans and YangQuan Chen},
  title           = {Basics and guidelines of complementary filters for small
                  UAS navigation},
  booktitle       = {2013 International Conference on Unmanned Aircraft Systems
                  (ICUAS)},
  year            = 2013,
  doi             = {10.1109/icuas.2013.6564726},
  url             = {https://doi.org/10.1109/icuas.2013.6564726},
  keywords        = {complementary filters},
  month           = 5,
 }
@article{beijen14_two_sensor_contr_activ_vibrat,
  author          = {Michiel A. Beijen and Dirk Tjepkema and Johannes van Dijk},
  title           = {Two-Sensor Control in Active Vibration Isolation Using Hard
                  Mounts},
  journal         = {Control Engineering Practice},
  volume          = 26,
  pages           = {82-90},
  year            = 2014,
  doi             = {10.1016/j.conengprac.2013.12.015},
  url             = {https://doi.org/10.1016/j.conengprac.2013.12.015},
  keywords        = {complementary filters},
 }
@article{bendat57_optim_filter_indep_measur_two,
  author          = {J. Bendat},
  title           = {Optimum Filters for Independent Measurements of Two Related
@ -416,6 +500,22 @@
@article{yong16_high_speed_vertic_posit_stage,
  author          = "Yuen K. Yong and Andrew J. Fleming",
  title           = {High-Speed Vertical Positioning Stage With Integrated
                  Dual-Sensor Arrangement},
  journal         = "Sensors and Actuators A: Physical",
  volume          = 248,
  pages           = "184 - 192",
  year            = 2016,
  doi             = {10.1016/j.sna.2016.06.042},
  url             = {https://doi.org/https://doi.org/10.1016/j.sna.2016.06.042},
  issn            = "0924-4247",
  keywords        = {sesnsor fusion, complementary filters},
 }
@inproceedings{baerveldt97_low_cost_low_weigh_attit,
  author          = {A.-J. Baerveldt and R. Klang},
  title           = {A Low-Cost and Low-Weight Attitude Estimation System for an
@ -643,153 +743,6 @@
@article{furutani04_nanom_cuttin_machin_using_stewar,
  author          = {Katsushi Furutani and Michio Suzuki and Ryusei Kudoh},
  title           = {Nanometre-Cutting Machine Using a Stewart-Platform Parallel
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  year            = 2004,
  doi             = {10.1088/0957-0233/15/2/022},
  url             = {https://doi.org/10.1088/0957-0233/15/2/022},
  keywords        = {parallel robot, cubic configuration},
 }
@article{du14_piezo_actuat_high_precis_flexib,
  author          = {Zhijiang Du and Ruochong Shi and Wei Dong},
  title           = {A Piezo-Actuated High-Precision Flexible Parallel Pointing
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  journal         = {IEEE Transactions on Robotics},
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  year            = 2014,
  doi             = {10.1109/tro.2013.2288800},
  url             = {https://doi.org/10.1109/tro.2013.2288800},
  keywords        = {parallel robot},
 }
@inproceedings{obrien98_lesson,
  author          = {J.F. O'Brien and J.E. McInroy and D. Bodtke and M. Bruch
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  keywords        = {parallel robot},
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@article{kim00_robus_track_contr_desig_dof_paral_manip,
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  title           = {Robust Tracking Control Design for a 6 Dof Parallel
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                  {https://doi.org/10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A},
  keywords        = {parallel robot},
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@inproceedings{abbas14_vibrat_stewar_platf,
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  year            = 2014,
  doi             = {10.1109/ibcast.2014.6778139},
  url             = {https://doi.org/10.1109/ibcast.2014.6778139},
  keywords        = {parallel robot},
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@article{lei08_multi_objec_robus_activ_vibrat,
  author          = {Liu Lei and Wang Benli},
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  doi             = {10.1016/s1000-9361(08)60016-3},
  url             = {https://doi.org/10.1016/s1000-9361(08)60016-3},
  keywords        = {parallel robot},
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@article{jiao18_dynam_model_exper_analy_stewar,
  author          = {Jian Jiao and Ying Wu and Kaiping Yu and Rui Zhao},
  title           = {Dynamic Modeling and Experimental Analyses of Stewart
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  volume          = 25,
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  year            = 2018,
  doi             = {10.1177/1077546318772474},
  url             = {https://doi.org/10.1177/1077546318772474},
  keywords        = {parallel robot, flexure},
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@phdthesis{rankers98_machin,
  author          = {Rankers, Adrian Mathias},
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  school          = {University of Twente},
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  year            = 1998,
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@book{preumont94_random_vibrat_spect_analy,
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  year            = 1994,
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@article{heertjes05_activ_vibrat_isolat_metrol_frames,
  author          = {Heertjes, Marcel and de Graaff, Koen and van der Toorn,
                  Jan-Gerard},
  title           = {Active Vibration Isolation of Metrology Frames; a Modal
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@article{holterman05_activ_dampin_based_decoup_colloc_contr,
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  title           = {Active Damping Based on Decoupled Collocated Control},
@ -805,6 +758,31 @@
@article{butler11_posit_contr_lithog_equip,
  author          = {Hans Butler},
  title           = {Position Control in Lithographic Equipment},
  journal         = {IEEE Control Systems},
  volume          = 31,
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  year            = 2011,
  doi             = {10.1109/mcs.2011.941882},
  url             = {https://doi.org/10.1109/mcs.2011.941882},
 }
@phdthesis{rankers98_machin,
  author          = {Rankers, Adrian Mathias},
  keywords        = {favorite},
  school          = {University of Twente},
  title           = {Machine dynamics in mechatronic systems: An engineering
                  approach.},
  year            = 1998,
 }
@inbook{lang17_under,
  author          = {Lang, George Fox},
  booktitle       = {Topics in Modal Analysis \& Testing, Volume 10},
@ -817,6 +795,19 @@
@book{preumont18_vibrat_contr_activ_struc_fourt_edition,
  author          = {Andre Preumont},
  title           = {Vibration Control of Active Structures - Fourth Edition},
  year            = 2018,
  publisher       = {Springer International Publishing},
  url             = {https://doi.org/10.1007/978-3-319-72296-2},
  doi             = {10.1007/978-3-319-72296-2},
  keywords        = {favorite, parallel robot},
  series          = {Solid Mechanics and Its Applications},
 }
@book{brunton22_data,
  author          = {Brunton, Steven L and Kutz, J Nathan},
  title           = {Data-driven science and engineering: Machine learning,
@ -857,33 +848,23 @@
-@article{oomen18_advan_motion_contr_precis_mechat,
+@book{schmidt20_desig_high_perfor_mechat_third_revis_edition,
-  author          = {Tom Oomen},
+  author          = {Schmidt, R Munnig and Schitter, Georg and Rankers, Adrian},
-  title           = {Advanced Motion Control for Precision Mechatronics:
+  title           = {The Design of High Performance Mechatronics - Third Revised
-                  Control, Identification, and Learning of Complex Systems},
+                  Edition},
-  journal         = {IEEJ Journal of Industry Applications},
+  year            = 2020,
-  volume          = 7,
+  publisher       = {Ios Press},
  number          = 2,
  pages           = {127-140},
  year            = 2018,
  doi             = {10.1541/ieejjia.7.127},
  url             = {https://doi.org/10.1541/ieejjia.7.127},
  keywords        = {favorite},
 }
-@article{lurie02_system_archit_trades_using_bode,
+@techreport{bibel92_guidel_h,
-  author          = {Boris J. Lurie and Ali Ghavimi and Fred Y. Hadaegh and
+  author          = {Bibel, John E and Malyevac, D Stephen},
-                  Edward Mettler},
+  institution     = {NAVAL SURFACE WARFARE CENTER DAHLGREN DIV VA},
-  title           = {System Architecture Trades Using Bode-Step Control Design},
+  title           = {Guidelines for the selection of weighting functions for
-  journal         = {Journal of Guidance, Control, and Dynamics},
+                  H-infinity control},
-  volume          = 25,
+  year            = 1992,
  number          = 2,
  pages           = {309-315},
  year            = 2002,
  doi             = {10.2514/2.4883},
  url             = {https://doi.org/10.2514/2.4883},
 }
@ -900,11 +881,31 @@
-@techreport{bibel92_guidel_h,
+@article{verma20_virtual_sensor_fusion_high_precis_contr,
-  author          = {Bibel, John E and Malyevac, D Stephen},
+  author          = {Mohit Verma and Thomas Dehaeze and Guoying Zhao and
-  institution     = {NAVAL SURFACE WARFARE CENTER DAHLGREN DIV VA},
+                  Jennifer Watchi and Christophe Collette},
-  title           = {Guidelines for the selection of weighting functions for
+  title           = {Virtual Sensor Fusion for High Precision Control},
-                  H-infinity control},
+  journal         = {Mechanical Systems and Signal Processing},
-  year            = 1992,
+  volume          = 150,
  pages           = 107241,
  year            = 2020,
  doi             = {10.1016/j.ymssp.2020.107241},
  url             = {https://doi.org/10.1016/j.ymssp.2020.107241},
  keywords        = {complementary filters},
 }
@article{saxena12_advan_inter_model_contr_techn,
  author          = {Sahaj Saxena and YogeshV Hote},
  title           = {Advances in Internal Model Control Technique: a Review and
                  Future Prospects},
  journal         = {IETE Technical Review},
  volume          = 29,
  number          = 6,
  pages           = 461,
  year            = 2012,
  doi             = {10.4103/0256-4602.105001},
  url             = {https://doi.org/10.4103/0256-4602.105001},
 }
--- a/nass-control.org
+++ b/nass-control.org
--- a/nass-control.pdf
+++ b/nass-control.pdf
--- a/nass-control.tex
+++ b/nass-control.tex
Author	SHA1	Message	Date
Thomas Dehaeze	fb616e7fd5	Rework complementary filter's control	2025-04-11 14:33:24 +02:00
Thomas Dehaeze	4d86377bfd	Rework decoupling section	2025-04-09 14:50:47 +02:00
Thomas Dehaeze	732aba5bb5	Second review	2025-04-08 23:29:15 +02:00