MOTION CONTROL DESIGN FOR FUNCTIONALLY RELATED SYSTEMS
Mechatronics, Ph.D. Dissertation, 2015
Prof. Dr. Asif Sabanovic (Dissertation Supervisor), Prof. Dr. Mustafa Ünel, Asst. Prof. Dr. Özkan Bebek, Prof. Dr. Ata Muğan, Asst. Prof. Dr. Meltem Elitaş
Date &Time: 04.08.2015 – 10:30 AM
Place: FENS G029
Keywords: motion control design, functions, functionally related systems, decentralized control.
When a complex task has to be performed in a mechatronic system consisting of multiple subsystems, the nature of the task can impose functional dependences between the states and outputs of the subsystems. These functions make the subsystems 'virtually' interconnected, even though they may be physically separated. The component subsystems within the overall system are called functionally related systems, since nature of the system task is defining functional relations between the system components.
This dissertation deals with motion control design for functionally related systems. The design is based on identifying functions to be executed within a task and control of these functions. The main goal of the design is to be able to enforce a desired dynamics for each of the identified functions. In that way, a decoupled control system is obtained. However, the decoupling is not based on physical separation, but rather on the functions decoupled control.
The proposed approach for control design is tested for different systems and different tasks, and it proved to be effective in all analyzed cases. Therefore, it represents a general method to be applied for motion control design for functionally related systems. Due to their nature, many mechatronic systems can be considered to contain functionally related systems. Therefore, the proposed approach can be utilized in many applications.