A Robust Tracking Controller Design With Hierarchical Perturbation Compensation

[+] Author and Article Information
SangJoo Kwon, Wan Kyun Chung

Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering, Pohang University of Science & Technology (POSTECH), Pohang, 790-784, Korea

J. Dyn. Sys., Meas., Control 124(2), 261-271 (May 10, 2002) (11 pages) doi:10.1115/1.1468996 History: Received October 13, 2000; Online May 10, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Perturbation compensator based robust tracking control (PCSMC)
Grahic Jump Location
Hierarchical perturbation compensator (HPC) with anti-windup mechanism
Grahic Jump Location
(Circle (R=30 mm) tracking simulation) (a) radial tracking errors, er(t)=R−x2(t)+y2(t), (b) sinusoidal disturbance input
Grahic Jump Location
Frequency response of the transfer function of the perturbation compensation error (when the control interval is L=1 ms, the filter cut-off frequency is ac=1/τ=500, and the modeling error is Hn=0.5H); (i) FBPO with Q10(z) in Eq. (48), (ii) HPC with Q10(z) in Eq. (49), (iii) FBPO with Q31(z) in Eqs. (52) and (53), (iv) HPC with Q31(z) in Eqs. (52) and (54)
Grahic Jump Location
Ball-screw driven XY positioner and the circle trajectory where the trajectory of each axis is given as x(t)=R(1−cos θ(t)),y(t)=R sin θ(t), the tracking time is tf=2 sec, and the rotation angle θ(t) is determined as a 5th order polynomial for the target angle θ(tf)=2π
Grahic Jump Location
(Circle (R=500 μm) tracking experiment) Contour error with the sinusoidal disturbance in Fig. 10(b)
Grahic Jump Location
(Circle (R=30 mm) tracking experiment), (a) Radial tracking errors, (b) sinusoidal disturbance
Grahic Jump Location
(Ultra-low speed experiment) Circle (R=500 μm) tracking, applied gains: λ=P=ac=200




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In