Title :
Robust internal model control with feedforward controller for a high-speed motion platform
Author :
Wang, Ying ; Xiong, Zhen Hua ; Ding, Han
Author_Institution :
Dept. of Mech. Eng., Shanghai JiaoTong Univ., China
Abstract :
A new control method based on a combination of robust control and internal model control has been proposed. This control system includes internal model controller for velocity loop, robust controller for position loop, and a feedforward controller. The internal model controller is designed to suppress disturbance. Stability robustness of the closed loop is provided by the robust controller. The zero phase error tracking controller is adopted to act as a feedforward controller to further improve the tracking performance. The theoretical analysis shows the validity of the proposed control scheme. Furthermore, simulations and experimental results are presented to demonstrate performance improvement of the proposed control structure.
Keywords :
closed loop systems; feedforward; motion control; robust control; zero assignment; closed loop; feedforward controller; motion control; position loop; robust internal model control; stability robustness; velocity loop; zero phase error tracking controller; Acceleration; Control system synthesis; Control systems; Error correction; Filters; Mechanical engineering; Motion control; Robust control; Robust stability; Velocity control; Robust control; feedforward control; high accuracy; high-speed; internal model control; motion control system;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545276