Title :
Application of GIMC Structure in Motion Control
Author :
Wang Xin ; Kong lili
Author_Institution :
Mech. Eng. & Autom., Harbin Inst. of Technol., China
Abstract :
In this note, we introduce a new feedback controller architecture - GIMC structure. It works in such a way that the feedback control system is solely controlled by the performance controller when there is no model uncertainties and external disturbances and the robustification controller is active when there are model uncertainties or external disturbance. The synthesis procedure for the parameters of the fault-tolerant scheme is carried out by using tools of robust control theory. Finally, the GIMC structure is applied to velocity loops in motion control to improve the performance of the closed-loop systems. Some experimental results are reported.
Keywords :
closed loop systems; feedback; motion control; robust control; closed-loop system; external disturbance; fault-tolerant parameter synthesis; feedback controller architecture; generalized internal model control; model uncertainty; motion control; robust control theory; robustification controller; velocity loop; Automation; Fault tolerance; Feedback; Mechanical engineering; Motion control; Motion planning; Robust control; Transfer functions; Uncertainty; Velocity control; Fault-Tolerant Control; H?? Design; Motion Control; Robust Control; Velocity Loops;
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
DOI :
10.1109/CHICC.2006.280738
