A Simple Robust Controller for Precise Positioning Mechanisms

Chi-Cheng Cheng; Cheng-Yi Chen; Ying-Yuan Li

doi:10.11499/sicep.2004.0_57_2

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_57_2

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

A Simple Robust Controller for Precise Positioning Mechanisms

*Chi-Cheng Cheng, Cheng-Yi Chen, Ying-Yuan Li

Author information

Keywords: Position control, Friction, Positioning systems

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 57

Details

Abstract

A hybrid control strategy is presented for robust high-accuracy positioning performance of transmission mechanisms. A time-delay algorithm estimates unknown dynamics and completes the feedback linearization framework for the nonlinear electro-mechanical system. A feedforward controller further enhances transient tracking capability. Control performance is demonstrated by experiments on a one-dimensional positioning mechanism in the presence of unknown plant parameters and external disturbances.

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