Title :
Design of H∞ controller for precise positioning system
Author :
Yamauchi, A. ; Murakami, T. ; Moran, A. ; Hayase, M.
Author_Institution :
Fac. of Eng., Tokyo Univ. of Agric. & Technol., Japan
Abstract :
The control system of a positioning mechanism with resonance and Coulomb friction has been designed using H∞ control theory, and the control performance has been verified by computer simulation and experimental analysis. DGKF type H∞ control with scalar weighting factors and GD type H∞ control with frequency-dependent weighting function based on integral action were utilized for designing the control system. The followings have been confirmed from this study: (1) H∞ control has good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction. (2) DGKF type H∞ controller presents better convergence and robustness properties than GD type H∞ controller
Keywords :
H∞ control; control system synthesis; position control; resonance; Coulomb friction; DGKF type H∞ control; GD type H∞ control; H∞ controller design; convergence; external disturbances; frequency-dependent weighting function; integral action; precise positioning system; resonance; robustness; scalar weighting factors; Computer simulation; Control system synthesis; Control systems; Control theory; Frequency; Friction; Performance analysis; Resonance; Robust control; Weight control;
Conference_Titel :
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location :
Hokkaido
Print_ISBN :
0-7803-2781-0
DOI :
10.1109/SICE.1995.526669
