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
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Perturbation compensator based robust tracking control (PCSMC)
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Hierarchical perturbation compensator (HPC) with anti-windup mechanism
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(Circle (R=30 mm) tracking simulation) (a) radial tracking errors, er(t)=R−x2(t)+y2(t), (b) sinusoidal disturbance input
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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)
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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
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(Circle (R=500 μm) tracking experiment) Contour error with the sinusoidal disturbance in Fig. 10(b)
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(Circle (R=30 mm) tracking experiment), (a) Radial tracking errors, (b) sinusoidal disturbance
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(Ultra-low speed experiment) Circle (R=500 μm) tracking, applied gains: λ=P=ac=200



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