Title :
Robustness evaluation of two control methods for friction compensation of PTP positioning systems
Author_Institution :
Dept. of Mechatronics Eng., Int. Islamic Univ. Malaysia, Kuala Lumpur, Malaysia
Abstract :
Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator.
Keywords :
PD control; compensation; controllers; friction; motion control; position control; robust control; PD controller; PTP positioning system; friction compensation; nominal characteristic trajectory following; point-to-point positioning system; robustness evaluation; smooth robust nonlinear feedback compensator; two control method; Control systems; Electrical equipment industry; Feedback; Friction; Motion control; Open loop systems; PD control; Robust control; Servomotors; Three-term control;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223228
