#+TITLE: Control Optimization
:DRAWER:
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#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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* Notes                                                             :noexport:
** Notes

Prefix is =detail_control=

Up to now, basic control strategy ("decentralized" control in the frame of the struts), HAC-LAC

Discussion about:
- *Use multiple sensors*: Discussion about two sensor control VS HAC-LAC VS Sensor Fusion ?
- *Decoupling strategies*
  - [ ] file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org
- *Control optimization*

** TODO [#A] Fix the outline

Lot is already discussed in:
- A5 [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A5-simscape-nano-hexapod/simscape-nano-hexapod.org::*Control of Stewart Platforms][Control of Stewart Platforms]]
- Some will be discussed in the geometry optimization (cubic configuration / decoupling / ...)

- [ ] Maybe do not write this section at all?

** TODO [#B] Papers to be included here

- H-infinity synthesis of complementary filters:
  [[file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org][file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org]]
  Or newer version: [[file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org][file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org]]
- Virtual sensor fusion
  [[file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.tex][file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.tex]]
  Maybe not this one.
- Feedback control based on complementary filters:
  [[file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org][file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org]]

** TODO [#A] Review of control for Stewart platforms?

[[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Control][Control]]

Or html version: https://research.tdehaeze.xyz/stewart-simscape/docs/bibliography.html

** TODO [#B] Discuss different strategies

- Robust control
- Adaptive control
- etc...

* Introduction                                                        :ignore:

* Multiple Sensor Control
<<sec:detail_control_multiple_sensor>>

** Introduction                                                      :ignore:

- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Multi Sensor Control][Multi Sensor Control]]

- [ ] review for Stewart platform => Table

** Cascaded Control and the HAC-LAC architecture
<<ssec:detail_control_hac_lac>>

** Sensor Fusion and Complementary Filters
<<ssec:detail_control_sensor_fusion>>

- file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org
  Or newer version: [[file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org][file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org]]
- Design of complementary filters

** Two-Sensor Control
<<ssec:detail_control_two_sensor>>

[[cite:&beijen14_two_sensor_contr_activ_vibrat]]
[[cite:&yong16_high_speed_vertic_posit_stage]]

** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:

* Decoupling Strategies
<<sec:detail_control_decoupling>>

** Introduction                                                      :ignore:

Assumptions:
- parallel manipulators

- file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org
- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Decoupling Strategies][Decoupling Strategies]]
- file:/home/thomas/Cloud/meetings/group-meetings-me/2021-08-16-Nano-Hexapod-Control/2021-08-16-Nano-Hexapod-Control.org

- [ ] What example should be taken?
  3dof system? stewart platform?

** Interaction Analysis

** Decentralized Control

** Center of Stiffness

- Example
- Show

** Center of Mass

** Modal Decoupling

** Data Based Decoupling

- Static decoupling
- SVD

** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:

* Controller Optimization
<<sec:detail_control_optimization>>

** Introduction                                                      :ignore:

** Decoupled Open-Loop Shaping
<<ssec:detail_control_loop_shaping>>

- Explain procedure when applying open-loop shaping
- Lead, Lag, Notches, Check Stability, c2d, etc...

** Model Based Design
<<ssec:detail_control_model_based>>

- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Multivariable Control][Multivariable Control]]
- Talk about Caio's thesis?
- Review of model based design (LQG, H-Infinity) applied to Stewart platform
- Difficulty to specify robustness to change of payload mass

** Closed-Loop Shaping using Complementary Filters
<<ssec:detail_control_complementary_filter_shaping>>

- [ ] *Or maybe the full section about that ?*

- file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.pdf
- file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org

** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:

* Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:detail_control_conclusion>>

* Bibliography                                                        :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]