Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
<|reference_start|>Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System: This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for `victory') algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control.<|reference_end|>
@article{shahna2024robust,
    title={Robust Model-Free Control Framework with Safety Constraints for a Fully
  Electric Linear Actuator System},
    author={Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila},
    journal={arXiv preprint arXiv:2409.12406},
    year={2024},
    doi={10.1109/PEMC61721.2024.10726389},
    archivePrefix={arXiv},
    eprint={2409.12406},
    primaryClass={eess.SY cs.SY}
}