High precision actuator control

Author

Elia, Nicola ; Lafontaine, Serge R. ; Hunter, Ian

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., MIT, Cambridge, MA, USA

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

4720

Abstract

We consider the controller design problem when the input signal is known in advance and the performance is measured as maximum absolute tracking error. We design a two-parameter controller that allows one to achieve very precise nominal tracking while keeping the control input rate within desired limits. We apply the method to a first example and uncover the structure of the controller parameters. Finally, we apply the method to a realistic model of actuator for micro-surgery. The simulation results show that the design method can be used successfully to impose stringent time-domain specifications on the resulting closed loop system

Keywords

actuators; closed loop systems; continuous time systems; linear systems; position control; surgery; time-domain analysis; tracking; actuator; closed loop system; continuous time systems; linear systems; micro surgery; precision control; time-domain; tracking error; Actuators; Bandwidth; Closed loop systems; Control systems; Design methodology; Error correction; Feedback; Feedforward systems; Open loop systems; Signal design;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.762079

Filename

762079