Abstract
Nonminimum-phase zeros pose challenges for controller design, i.e., in inversion-based control approaches where inverting these zeros may result in “unstable” poles. The aim of this paper is to exploit the additional freedom in overactuated systems to eliminate these zeros, facilitating subsequent inversion. In particular, an approach for causal and exact inversion of systems with nonminimum-phase behavior is presented. In an either static or dynamic squaring-down step prior to inversion, the approach exploits the fact that nonsquare systems typically have no invariant zeros. The proposed approach is successfully demonstrated in experiments on an overactuated motion system. The method enables exact inversion for nonsquare systems without requiring preview or preactuation.
Original language | English |
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Article number | 8861146 |
Pages (from-to) | 2953-2963 |
Number of pages | 11 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 24 |
Issue number | 6 |
DOIs | |
Publication status | Published - Dec 2019 |
Keywords
- Causal feedforward
- nonminimum-phase behavior
- overactuation
- squaring down
- tracking control