Adaptive robust motion control for precise trajectory tracking applications
| Autor: | Tong Heng Lee, Shok Jun Chin, Huifang Dou, Ser Yong Lim, Sunan Huang, Kok Kiong Tan |
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| Rok vydání: | 2001 |
| Předmět: |
Engineering
Adaptive control business.industry Applied Mathematics Servo control Feed forward PID controller Control engineering Motion controller Motion control Computer Science Applications Control and Systems Engineering Control theory Electrical and Electronic Engineering Robust control business Instrumentation |
| Zdroj: | ISA Transactions. 40:57-71 |
| ISSN: | 0019-0578 |
| DOI: | 10.1016/s0019-0578(00)00037-9 |
| Popis: | This paper presents a robust servo control method for high precision motion control using linear actuators. The controller consists of three components : a simple feedforward compensator, a PID feedback controller, and a RBF (radial-basis function) adaptive compensator, each to fulfill a specific objective. The first two control components can be directly tuned based on only an estimated dominant second-order linear model. The RBF compensator is self-tuning, and it will compensate for remaining uncertainties in the system, residual of the linear model. Rigid proofs are provided, guaranteeing the robust stability of the proposed controller. Experimental results confirm the much superior performance of the 3-tier composite control over a standard motion controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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