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A Novel Approach to Motion Control Design for Functionally Related Systems

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  • Control Theory and Applications
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Abstract

When a complex task has to be performed by multiple systems, it imposes functional dependencies between the states and/or outputs of the systems. These functional dependencies create a system of’ virtually’ interconnected subsystems, even though they may be physically separated. The component subsystems within the overall system we call ‘functionally related systems’. This paper deals with motion control design for functionally related systems. The design is based on identifying functions. The control design is then performed by projecting the system dynamics into the function space. The main goal is to obtain unit control distribution matrix in the function space and enforce a desired dynamics for each of the identified functions.

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Author information

Authors and Affiliations

  1. Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina

    Tarik Uzunovic

  2. Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey

    Asif Sabanovic

Authors
  1. Tarik Uzunovic
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  2. Asif Sabanovic
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Corresponding author

Correspondence to Tarik Uzunovic.

Additional information

Recommended by Associate Editor Do Wan Kim under the direction of Editor PooGyeon Park. This work was supported in part by the Yousef Jameel Scholarship Fund, TÜBİTAK Project 114M578, and TÜBİTAK BİDEB 2215.

Tarik Uzunovic received the B.Eng. and M.Eng. degrees in electrical engineering from the University of Sarajevo, Sarajevo, Bosnia and Herzegovina, and Ph.D. degree in mechatronics from Sabanci University, Istanbul, Turkey, in 2008, 2010, and 2015, respectively. He is an Assistant Professor with the Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina. His research interests include motion control, robotics, and mechatronics.

Asif Sabanovic received the B.S., M.S., and Dr.Sci. degrees in electrical engineering from the University of Sarajevo, Sarajevo, Bosnia and Herzegovina, in 1970, 1975, and 1979, respectively. He is an Emeritus Professor at Sabanci University, Istanbul, Turkey. From 1970 until 1991, he was with Energoinvest - Institute for Control and Computer Sciences, Sarajevo. In 1991, he was with the Department of Electrical Engineering, University of Sarajevo. He was a Visiting Researcher with the Institute of Control Sciences, Moscow, Russia, Visiting Professor with the California Institute of Technology - CALTECH, Pasadena, Hitachi Chair Professor with Keio University, Yokohama, Japan, Full Professor with Yamaguchi University, Ube, Japan, Head of CAD/CAM and Robotics Department at Tubitak - Marmara Research Centre, Istanbul. His research interests include control systems, motion control systems, robotics, mechatronics, and power electronics.

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Uzunovic, T., Sabanovic, A. A Novel Approach to Motion Control Design for Functionally Related Systems. Int. J. Control Autom. Syst. 16, 2043–2054 (2018). https://doi.org/10.1007/s12555-017-0539-7

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  • DOI: https://doi.org/10.1007/s12555-017-0539-7

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