Title :
A simple robust controller for precise positioning mechanisms
Author :
Cheng, Chi-Cheng ; Chen, Cheng-Yi ; Li, Ying-Yuan
Author_Institution :
Dept. of Mech. & Electro-Mech. Eng., Nat. Sun Yat-Sen Univ., Kaohsiung, Taiwan
Abstract :
A hybrid control strategy is presented for robust high-accuracy positioning performance of transmission mechanisms. A time-delay algorithm estimates unknown dynamics and completes the feedback linearization framework for the nonlinear electro-mechanical system. A feedforward controller further enhances transient tracking capability. Control performance is demonstrated by experiments on a one-dimensional positioning mechanism in the presence of unknown plant parameters and external disturbances.
Keywords :
delays; feedforward; nonlinear control systems; position control; robust control; transient response; feedback linearization framework; feedforward controller; high-accuracy positioning performance; hybrid control strategy; nonlinear electro-mechanical system; robust controller; time-delay algorithm; transient tracking; transmission mechanism;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
