Acceleration feedback and friction compensation for improving positioning performance in systems with friction

Myo Thant Sin Aung, Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

High-gain proportional-integral-derivative (PID) position control can achieve stiff position control but it involves the risk of overshoots in some cases such as discontinuous position commands and disturbances. This paper presents a new position controller that achieves accurate trajectory tracking and overdamped resuming motion from large positional errors and disturbances. The proposed controller is a combination of PDD2 (proportional, derivative, and second derivative) controller with nonlinear D2 term, which we call (N-PDD2), and the output of a friction compensator (FC). The nonlinear D2 term allows the use of high gain PDD2 and thus, advantageous in dealing with disturbances. Accurate trajectory-tracking is achieved due to friction compensation. The validity of the proposed controller was demonstrated through experiments in realizing overdamped motion and accurate tracking simultaneously and achieving improvement in robustness to disturbances in a robotic manipulator.

Original languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4798-4803
Number of pages6
ISBN (Electronic)9781479986842
DOIs
Publication statusPublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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