phd-control/nass-control.org

Control Optimization

• Introduction
• Multiple Sensor Control
  • Introduction
  • Cascaded Control and the HAC-LAC architecture
  • Sensor Fusion and Complementary Filters
  • Two-Sensor Control
  • Conclusion
• Decoupling Strategies
  • Introduction
  • Interaction Analysis
  • Decentralized Control
  • Center of Stiffness
  • Center of Mass
  • Modal Decoupling
  • Data Based Decoupling
  • Conclusion
• Controller Optimization
  • Introduction
  • Decoupled Open-Loop Shaping
  • Model Based Design
  • Closed-Loop Shaping using Complementary Filters
  • Conclusion
• Conclusion
• Bibliography

Introduction   ignore

Multiple Sensor Control

<<sec:detail_control_multiple_sensor>>

Introduction   ignore

• 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
• 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

Decoupling Strategies

<<sec:detail_control_decoupling>>

Introduction   ignore

Assumptions:

• parallel manipulators
• file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org
• 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

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>>

• 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

Conclusion

<<sec:detail_control_conclusion>>

Bibliography   ignore