A robustness comparison of two friction compensation method for PTP positioning systems

Author

Wahyudi ; Sato, Kiminori ; Shimokohbe, A.

Author_Institution

Dept. of Mechatronics Eng., Int. Islamic Univ. Malaysia, Kuala Lumpur, Malaysia

Volume

1

fYear

2002

fDate

2002

Firstpage

42

Abstract

Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with discontinuous nonlinear proportional feedback (DNPF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to friction variation than the PD controller with DNPF compensator.

Keywords

friction; motion compensation; position control; robust control; friction; motion control; point-to-point positioning; positioning; robustness comparison; Control systems; Feedback; Friction; Lubrication; Motion control; Open loop systems; PD control; Proportional control; Robust control; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2002. IEEE ICIT '02. 2002 IEEE International Conference on

Print_ISBN

0-7803-7657-9

Type

conf

DOI

10.1109/ICIT.2002.1189859

Filename

1189859