Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/138191
Title: DATA-BASED CONTROL DESIGN WITH APPLICATION TO TRAY INDEXING
Authors: LI XIAOCONG
Keywords: Data-Based Control, Controller Tuning, Disturbance Observer, Feedforward Control, Gradient-Based optimization, Data-Driven optimization
Issue Date: 10-Aug-2017
Citation: LI XIAOCONG (2017-08-10). DATA-BASED CONTROL DESIGN WITH APPLICATION TO TRAY INDEXING. ScholarBank@NUS Repository.
Abstract: Traditional model-based control design relies upon accurate modeling of the motion system by first principles or identification. In industrial applications, such model-based control design may face challenges when the modeling is difficult or less accurate, and consequently data-based control has become more and more popular in recent years. In this thesis, a three-degree-of freedom composite controller with jerk feedforward and disturbance observer is proposed and a data-based iterative tuning procedure is developed for the inverse system model within this specific control structure. Its direct adoption in commercial controllers is achieved by developing a reference profile alteration scheme, which makes adjustment to the reference instead of the control input. An improved disturbance rejection performance is achieved by a novel iterative data-based disturbance observer sensitivity shaping approach. All the findings are validated using an industrial timing belt based tray indexing setup.
URI: http://scholarbank.nus.edu.sg/handle/10635/138191
Appears in Collections:Ph.D Theses (Open)

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