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This paper presents a control methodology for high-precision positioning system. In order to realize the high-precision in positioning, the expansion of servo bandwidth is one of the promising approaches. However, since most of mechanisms inherently include mechanical vibration modes around the control response frequency, the control bandwidth is restricted by the resonant frequency. In order to provide...
This paper presents a novel position command shaping approach for the mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in plant may deteriorate the motion performance. In this research, a linear matrix inequality (LMI) design framework is applied to...
This paper presents a novel deadbeat feedforward compensation in the fast and precise positioning control for mechatronic systems. The proposed compensator is designed considering the frequency shaping in control input to suppress the residual vibration, under the constraint of specified step number in position reference. A 2-degree-of-freedom positioning controller with the deadbeat feedforward compensation...
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