Title :
Improving the servo performance of mechatronic system by acceleration feedback
Author :
Liu, Ka ; Ma, Jie
Author_Institution :
Control & Simulation Center, Harbin Inst. of Technol., Harbin
Abstract :
In this paper, we discuss the use of acceleration feedback control (AFC) to improve the tracking performance and robustness of controllers for mechatronic systems. It is shown that acceleration feedback loop can resist the effects of uncertainty such as the inertia changes and dynamic disturbances; furthermore, it can compensate the existing structural resonances. To mainly investigate the ability of the acceleration feedback in compensating nonlinear friction, comparative study only with position feedback but via sliding mode compensation are presented too. Superior performance against friction with AFC is confirmed by simulation. A recommended result is given at the end of this paper.
Keywords :
acceleration control; compensation; feedback; friction; mechatronics; nonlinear control systems; position control; robot dynamics; robust control; servomechanisms; uncertain systems; variable structure systems; acceleration feedback control; dynamic disturbances; inertia changes; mechatronic system; nonlinear friction compensation; position feedback; robust controller; servo performance; sliding mode compensation; structural resonances compensation; tracking performance; uncertainty resistance; Acceleration; Automatic frequency control; Control systems; Feedback control; Feedback loop; Friction; Mechatronics; Resists; Robust control; Servomechanisms; Acceleration feedback; Nonlinear compensation; Servo control;
Conference_Titel :
Machine Learning and Cybernetics, 2008 International Conference on
Conference_Location :
Kunming
Print_ISBN :
978-1-4244-2095-7
Electronic_ISBN :
978-1-4244-2096-4
DOI :
10.1109/ICMLC.2008.4620735
