Title :
High-precision control of positioning systems with nonsmooth nonlinearities
Author :
Kim, Jong-Hwan ; Jeon, Jeong-Yul ; Lee, Seon-Woo ; Koh, Kwangill
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
A high-precision control scheme for a precise point-to-point positioning system under the influence of nonsmooth nonlinearities is proposed. The proposed scheme consists of two controller modes: a tracking controller mode and a two-layered controller mode. The tracking controller is composed of a friction compensator, a linear feedback controller and a sliding control. The friction compensator is designed based on an identified friction model by using evolution strategies. The two-layered controller consists of a fuzzy precompensator and a PD controller. The fuzzy precompensator is employed to improve the performance of the PD controller. Its fuzzy rules are obtained from experimental evolutionary programming, not from an expert
Keywords :
compensation; control nonlinearities; feedback; friction; fuzzy control; genetic algorithms; linear systems; position control; tracking; two-term control; PD controller; evolution strategies; evolutionary programming; friction compensator; fuzzy precompensator; high-precision control; linear feedback controller; nonsmooth nonlinearities; point-to-point positioning system; sliding control; tracking controller; two-layered controller; Adaptive control; Control nonlinearities; Control systems; Friction; Fuzzy control; Genetic programming; Linear feedback control systems; Nonlinear control systems; PD control; Sliding mode control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577480
