Data-Driven Iterative optimization of TDOF Controller with Rational Model

Taejune Kong; Hanul Jung; Sehoon Oh

doi:10.1109/ICM54990.2023.10102075

Data-Driven Iterative optimization of TDOF Controller with Rational Model

Taejune Kong
, Hanul Jung
, Sehoon Oh

Department of Robotics and Mechatronics Engineering

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.

Original language	English
Title of host publication	Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665466615
DOIs	https://doi.org/10.1109/ICM54990.2023.10102075
State	Published - 2023
Event	2023 IEEE International Conference on Mechatronics, ICM 2023 - Leicestershire, United Kingdom Duration: 15 Mar 2023 → 17 Mar 2023

Publication series

Name	Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023

Conference

Conference	2023 IEEE International Conference on Mechatronics, ICM 2023
Country/Territory	United Kingdom
City	Leicestershire
Period	15/03/23 → 17/03/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

data-driven method
disturbance observer
feedforward controller
iterative optimization

Access to Document

10.1109/ICM54990.2023.10102075

Cite this

Kong, T., Jung, H., & Oh, S. (2023). Data-Driven Iterative optimization of TDOF Controller with Rational Model. In Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023 (Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICM54990.2023.10102075

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title = "Data-Driven Iterative optimization of TDOF Controller with Rational Model",

abstract = "For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.",

keywords = "data-driven method, disturbance observer, feedforward controller, iterative optimization",

author = "Taejune Kong and Hanul Jung and Sehoon Oh",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Mechatronics, ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023",

year = "2023",

doi = "10.1109/ICM54990.2023.10102075",

language = "English",

series = "Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023",

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Kong, T, Jung, H & Oh, S 2023, Data-Driven Iterative optimization of TDOF Controller with Rational Model. in Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023. Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023, Institute of Electrical and Electronics Engineers Inc., 2023 IEEE International Conference on Mechatronics, ICM 2023, Leicestershire, United Kingdom, 15/03/23. https://doi.org/10.1109/ICM54990.2023.10102075

Data-Driven Iterative optimization of TDOF Controller with Rational Model. / Kong, Taejune; Jung, Hanul; Oh, Sehoon.
Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Kong, Taejune

AU - Jung, Hanul

AU - Oh, Sehoon

PY - 2023

Y1 - 2023

N2 - For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.

AB - For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.

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KW - disturbance observer

KW - feedforward controller

KW - iterative optimization

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DO - 10.1109/ICM54990.2023.10102075

M3 - Conference contribution

AN - SCOPUS:85158123562

T3 - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023

BT - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Mechatronics, ICM 2023

Y2 - 15 March 2023 through 17 March 2023

ER -

Data-Driven Iterative optimization of TDOF Controller with Rational Model

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