DocumentCode :
2974680
Title :
High performance motion control of linear motors based on multirate adaptive robust control
Author :
Fujimoto, Hiroshi ; Yao, Bin
Author_Institution :
Dept. of Electr. Eng., Nagaoka Univ. of Technol., Niigata, Japan
fYear :
2004
fDate :
25-28 March 2004
Firstpage :
547
Lastpage :
552
Abstract :
It is well known that a plant becomes non-minimum phase in discrete-time domain when the relative degree of the original continuous-time plant is greater than 2 even if the plant is minimum-phase in continuous-time domain. Thus, it was difficult to apply the conventional adaptive controllers directly to these systems. In this paper, multirate adaptive robust control (MARC) is proposed for these systems. This scheme is developed by the good combination of perfect tracking control (PTC) with multirate feedforward control which has been proposed by the first author and discontinuous projection based adaptive robust control (ARC) which has been proposed by the second author. The proposed MARC can guarantee 1) perfect tracking for plant with parametric uncertainty and 2) overall stability even if there exist modeling error and disturbance. The proposed scheme is applied to the high-speed position control of a linear motor, and the advantages are demonstrated through experiments.
Keywords :
adaptive control; control system synthesis; feedforward; linear motors; machine control; motion control; parameter estimation; position control; robust control; sampled data systems; tracking; adaptive controllers; adaptive robust control; continuous time domain; continuous time plant; control system synthesis; discrete time domain; high speed position control; linear motors; modeling error; motion control; multirate adaptive robust control; multirate feedforward control; parameter estimation; perfect tracking control; stability; tracking; Adaptive control; Control systems; Digital control; Mechanical variables control; Motion control; Poles and zeros; Programmable control; Robust control; Sampling methods; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
Type :
conf
DOI :
10.1109/AMC.2004.1297927
Filename :
1297927
Link To Document :
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