Adaptive robust motion control for precise trajectory tracking applications

被引：34

作者：

Tan, KK ^{[1
]}

Huang, SN ^{[1
]}

Dou, HF ^{[1
]}

Lee, TH ^{[1
]}

Chin, SJ ^{[1
]}

Lim, SY ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect Engn, Singapore 119260, Singapore

来源：

ISA TRANSACTIONS | 2001年 / 40卷 / 01期

关键词：

robust control; adaptive control; radial basis functions; linear motors;

D O I：

10.1016/S0019-0578(00)00037-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a robust servo control method for high precision motion control using linear actuators. The controller consists of three components : a simple feedforward compensator, a PID feedback controller, and a RBF (radial-basis function) adaptive compensator, each to fulfill a specific objective. The first two control components can be directly tuned based on only an estimated dominant second-order linear model. The RBF compensator is self-tuning, and it will compensate for remaining uncertainties in the system, residual of the linear model. Rigid proofs are provided, guaranteeing the robust stability of the proposed controller. Experimental results confirm the much superior performance of the 3-tier composite control over a standard motion controller. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：57 / 71

页数：15

共 13 条

[1]

Astrom K. J., 1995, PID CONTROLLERS THEO

[2]

CHANG SB, 1997, J AM SOC PRECISION E, V20, P161

[3]

Dorato P., 1995, LINEAR QUADRATIC CON

[4]

Ioannou P.A., 1995, Robust Adaptive Control

[5]

Ljung L, 1987, SYSTEM IDENTIFICATIO

[6] Fast Learning in Networks of Locally-Tuned Processing Units [J].

Moody, John ;

Darken, Christian J. .

NEURAL COMPUTATION, 1989, 1 (02) :281-294

[7]

Nasar S.A., 1987, LINEAR ELECT MOTORS

[8]

OTTEN G, 1997, IEEE-ASME T MECH, V2, P161

[9]

SHIRO U, 1995, P 2 INT S LIN DRIV I, P295

[10]

Sontag E, 1990, MATH CONTROL THEORY

← 1 2 →