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Research Papers

A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

[+] Author and Article Information
Edgar I. Ergueta

Department of Mechanical Engineering, University of California, Berkeley, CA 94720edgar.ergueta@wdc.com

Robert Seifried

Institute of Engineering and Computational Mechanics, University of Stuttgart, 70550 Stuttgart, Germanyseifried@itm.uni-stuttgart.de

Roberto Horowitz

Department of Mechanical Engineering, University of California, Berkeley, CA 94720horowitz@me.berkeley.edu

J. Dyn. Sys., Meas., Control 133(2), 021007 (Feb 22, 2011) (10 pages) doi:10.1115/1.4003261 History: Received March 19, 2009; Revised October 26, 2010; Published February 22, 2011; Online February 22, 2011

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Steerable nips with paper buckle

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Figure 2

Top view of steerable nips

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Figure 3

Dynamic Feedback Linearization controller

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Figure 4

Simulation results using the Dynamic Feedback Linearization controller. The solid and dashed lines represent the results with and without actuator multiplicative uncertainty, respectively.

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Figure 5

Actuator multiplicative uncertainty (j=s,p; i=1,2)

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Figure 6

Robust Feedback Linearization Plus Inner Loops controller

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Figure 7

Simulation results using the Robust Feedback Linearization Plus Inner Loops controller. Note that the results without uncertainty (dashed line) and those with uncertainty (solid line) are almost indistinguishable.

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Figure 8

Feedback connection for small gain theorem

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Figure 9

Experimental results using the Robust Feedback Linearization Plus Inner Loops controller. The solid line is used for experimental results and the dashed line is used for simulation results.

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Figure 10

Hybrid experimental results using the Dynamic Feedback Linearization controller, where real actuators were used, but the sheet response was simulated using the kinematic model

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