TY - JOUR
T1 - Contractivity-based Variable Gain Dynamic Motion Control for a Laser Beam Steering System
T2 - Synthesis and performance analysis
AU - Reyes-Báez, Rodolfo
AU - González-Romeo, Lorenzo L
AU - Guerrero-Castellanos, J. Fermi
AU - Jayawardhana, Bayu
PY - 2023/6
Y1 - 2023/6
N2 - This paper deals with the synthesis and experimental performance evaluation of a contractivity-based nonlinear dynamic motion control scheme for a Laser-Beam Steering (LBS) system, which includes a saturated integral action and a variable gain. The variable gain, in the control law, is used to discriminate between “signal” and “noise” in the velocity measurements, allowing to do a trade-off between the low-frequency tracking and disturbance rejection properties and high-frequency measurement noise amplification, an effect known as waterbed effect. Then, the contractivity-based framework handles the stabilization problem together with the closed-loop performance, allowing one to generalize key properties of linear control systems to analyze transient and steady-state solutions performances in the nonlinear case. The proposed control scheme is evaluated on an experimental platform for the set-point regulation and trajectory tracking problems under different scenarios. Moreover, the effectiveness of the proposed control scheme is compared with linear controllers for the LBS system available in the literature.
AB - This paper deals with the synthesis and experimental performance evaluation of a contractivity-based nonlinear dynamic motion control scheme for a Laser-Beam Steering (LBS) system, which includes a saturated integral action and a variable gain. The variable gain, in the control law, is used to discriminate between “signal” and “noise” in the velocity measurements, allowing to do a trade-off between the low-frequency tracking and disturbance rejection properties and high-frequency measurement noise amplification, an effect known as waterbed effect. Then, the contractivity-based framework handles the stabilization problem together with the closed-loop performance, allowing one to generalize key properties of linear control systems to analyze transient and steady-state solutions performances in the nonlinear case. The proposed control scheme is evaluated on an experimental platform for the set-point regulation and trajectory tracking problems under different scenarios. Moreover, the effectiveness of the proposed control scheme is compared with linear controllers for the LBS system available in the literature.
KW - Laser beam steering system
KW - Contractivity-based control
U2 - 10.1016/j.conengprac.2023.105517
DO - 10.1016/j.conengprac.2023.105517
M3 - Article
SN - 0967-0661
VL - 135
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 105517
ER -