Nonlinear modeling and feedback control of boom barrier automation

TL;DR

This paper presents a comprehensive nonlinear modeling and feedback control approach for a boom barrier automation system, combining explicit feedback linearization, trajectory optimization, and robust low-level control, validated through real-world experiments.

Contribution

It introduces a novel control scheme integrating feedback linearization with nonlinear optimization for trajectory planning, tailored for boom barrier automation.

Findings

Effective control with robustness and disturbance rejection

Successful real-system implementation and validation

Enhanced tracking performance through optimized feedback gains

Abstract

We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response between the external input and the delivered torque. A nonlinear optimization problem is solved offline to generate a feasible trajectory associated with a feedforward action and a low level feedback controller is designed to track it. The feedback gains can be conveniently tuned by solving a set of convex linear matrix inequalities, performing a multi-objective trade-off between disturbances attenuation and closed-loop performance. Finally, the proposed control strategy is tested on the real system and experimental results show that it can effectively meet the requirements in terms of robustness, load disturbance rejection and tracking performance.