Predictive control with enhanced robustness for precision positioning in frictional environment

Author

Cheng, Chi-Cheng ; Chen, Cheng-Yi ; Chiu, George T C

Author_Institution

Dept. of Mech. & Electro-Mech. Eng., Nat. Sun Yat-Sen Univ., Kaohsiung, Taiwan

Volume

7

Issue

3

fYear

2002

fDate

9/1/2002 12:00:00 AM

Firstpage

385

Lastpage

392

Abstract

A modified predictive control strategy is developed to overcome positioning and tracking difficulties for a transmission mechanism with friction. Enhanced robustness with respect to unknown dynamics is achieved by incorporating a zero phase error tracking controller (ZPETC) and a time-delay disturbance estimation scheme. Time delay control is used to cancel disturbances and potential nonlinearities. ZPETC is included to improve the overall system bandwidth. Both realistic numerical simulations, which consider the effect of sampling, quantization, and friction, and practical experiments are performed to investigate the effectiveness of the proposed control method. Encouraging transient response and steady-state control performance were observed in the results of positioning control of a one-dimensional transmission mechanism.

Keywords

closed loop systems; delays; machine tools; position control; predictive control; robust control; disturbances cancellation; enhanced robustness; frictional environment; nonlinearities cancellation; precision positioning; predictive control; steady-state control performance; time delay control; time-delay disturbance estimation scheme; tracking; transient response; transmission mechanism; unknown dynamics; zero phase error tracking controller; Bandwidth; Control nonlinearities; Delay effects; Error correction; Friction; Nonlinear dynamical systems; Numerical simulation; Phase estimation; Predictive control; Robust control;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2002.802715

Filename

1032419