Title :
Robust loop shaping H∞ control of servo systems
Author :
Choi, Chin Tae ; Kim, Jong Shik ; Peak, Ki Nam
Author_Institution :
Robot Team, Res. Inst. of Ind. Sci. & Technol., Pohang, South Korea
Abstract :
Loop shaping H∞ control with normalized coprime factorization was applied to a servo-motor driven precision positioning system. The high-gain controller was designed to attenuate the position errors caused by friction effects. The non-existence of limit cycle was analyzed, though there is actuator saturation. The designed H∞ control system was experimentally tested in a rotary index table. Results showed its effectiveness to improve position accuracy without any compensation scheme for friction, and robustness to model perturbation and external disturbances
Keywords :
H∞ control; closed loop systems; control system synthesis; limit cycles; position control; robust control; servomechanisms; H∞ control; coprime factorization; limit cycle; loop shaping; positioning system; robust control; servo systems; servomotor; Control systems; Delay effects; Error correction; Friction; Open loop systems; Proportional control; Robust control; Robustness; Servomechanisms; Shape control;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537819
