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Robust digital tracking controller design for high-speed positioning systems

delete1996-04-01
delete59
PRE
AI
S
Shuji Endo *
H
Hirokazu Kobayashi
C
Carl J. Kempf
S
Shinichi Kobayashi
M
Masayoshi Tomizuka
Y
Y. Hori
DOI：10.1016/0967-0661(96)00036-6delete
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Abstract

Abstract

En 中文
In this paper, a robust digital tracking controller for high-speed positioning is proposed. For high-speed tracking problems, the combination of a feedforward controller and a robust feedback controller is desirable, because the feedforward controller anticipates and compensates for closed-loop dynamics and the feedback controller compensates mechanical nonlinearities, parameter variations, and disturbances. A disturbance observer and PD compensation was used as a robust feedback controller and a zero-phase error-tracking controller was used as the feedforward controller. This method was applied to an X-Y table, and experimental results demonstrate that this method yields excellent tracking performance and robustness to plant parameter variations.
Keywords:
digital control
disturbance rejection
feedforward compensation
positioning systems
robust performance
tracking characteristics

Journal

Control Engineering Practice cover
Control Engineering Practice
IF:
4.6
Papers:
5.7K
Citations:
1.1W

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No organization information available