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Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction

Author(s):

I. Petrovic, M. Baotic, L. Matic, N. Peric
Conference/Journal:

EPE European Conference on Power Electronics and Applications, Toulouse, France
Abstract:

In this paper hybrid theory has been applied to design a state-feedback control law of an electrical drive with friction. The drive is modeled as a piecewise affine (PWA) system and a finite time optimal control problem is formulated for such a hybrid system. Three most often used friction models are considered and compared based on their suitability for the PWA description. It is shown that a reset-integrator friction model gives a PWA model of smaller complexity than LuGre and Karnopp friction models. A state-feedback optimal control law in a form of a look-up table is then derived via dynamic programming. The control system behavior is tested by computer simulations. The results indicate that the proposed control strategy is a valuable alternative to the currently used control strategies.

Year:

2003
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { PetEtal:2003:IFA_241,
    author={I. Petrovic and M. Baotic and L. Matic and N. Peric},
    title={{Hybrid Theory Based Model Predictive Control of Electrical
	  Drives with Friction}},
    booktitle={EPE European Conference on Power Electronics and
	  Applications},
    pages={},
    year={2003},
    address={Toulouse, France},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=241}
}
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