• DocumentCode
    3058014
  • 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
  • Volume
    1
  • fYear
    1995
  • fDate
    22-25 Oct 1995
  • Firstpage
    547
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/ICSMC.1995.537819
  • Filename
    537819
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3058014