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

Myo Thant Sin Aung, Ryo Kikuuwe

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルACC 2015 - 2015 American Control Conference
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4798-4803
ページ数6
ISBN(電子版)9781479986842
DOI
出版ステータス出版済み - 7 28 2015
イベント2015 American Control Conference, ACC 2015 - Chicago, 米国
継続期間: 7 1 20157 3 2015

出版物シリーズ

名前Proceedings of the American Control Conference
2015-July
ISSN(印刷版)0743-1619

その他

その他2015 American Control Conference, ACC 2015
国/地域米国
CityChicago
Period7/1/157/3/15

All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学

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