Bandwidth-on-Demand Motion Control

S.J.L.M. van Loon

doi:10.1109/TCST.2017.2658192

2018-01-01

PRE

DOI：10.1109/TCST.2017.2658192

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摘要

En 中文

In this brief, we introduce a bandwidth-on-demand variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear time-invariant (LTI) control suffering from design tradeoffs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VGC consists of frequency-domain loop-shaped linear filters and a variable-gain element, which depends on reference information. We present easy-to-use controller design guidelines and data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. Moreover, the ability of the bandwidth-on-demand controller to outperform LTI controllers is emphasized through experiments on an industrial nanopositioning motion stage.

Keyword:

Control design tradeoffs

frequency-domain

industrial application

motion control

variable-gain control (VGC)

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期刊

IEEE Transactions on Control Systems Technology

IF:

3.9

论文数:

4.9K

被引数:

1.7W

机构

Eindhoven University of Technology

学者数:

1.6W

论文数: 1.5W

被引数: 2.2W

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