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A robust, nonlinear controller is proposed for point to point positioning of a single degree of freedom system. This controller is developed for discrete time implementation and is based upon the discrete time input to state relations of a second order positioning system with bounded parametric uncertainties. The controller's robustness properties are derived from a variable structure control law...
Discrete-time repetitive controllers have traditionally been motivated with a purely deterministic problem formulation. Trade-offs for robustness, settling time and stochastic performance were at the cost of asymptotic regulation against a purely periodic disturbance. In this paper, we establish a connection between optimal prediction-based and repetitive control. We show that the simple modified...
The results of an experimental work on the lateral control of a full-scaled vehicle are reported in this paper. Two control algorithms were tested, a simple PID controller to serve as the baseline, and an optimal preview controller, which was developed to improve the tracking performance, ride quality and robustness of the system. The theoretical development and the experimental setup are briefly...
Sliding mode control is a standard approach to tackle the parametric and modeling uncertainities of a non-linear system. However, the robust control obtained by using sliding mode has a price, which is the high frequency chattering encountered during the digital implementation of the control. The idea of introducing a boundary layer around the switching surface and approximating a continuous control...
A two-level fuzzy tuning scheme is presented in this paper. The fuzzy tuner in the upper level is used to design the membership functions of the fuzzy logic controller in the lower level. The scheme provides an effective means for obtaining a good performance of the controller in a short time with a low computational burden. The upper and lower levels have a similar structure for the fuzzy inference,...
Continuous deterministic preview control is applied to the vehicle lateral contol problem. It is shown that the preview control consists of a feedback term and two feedforward terms. If the preview control algorithm is applied on the FSLQ augmented system, the feedback term will be exactly the same as the FSLQ feedback control law. Therefore, the advantages of the FSLQ control law (robustness on measurement...
This paper deals with the design of a digital servo controller for a machining tool which exhibits mechanical nonlinearities. Nonlinear friction force as well as its nonlinear compensation are considered. The combination of this compensator and the linear feedforward tracking controller(Zero Phase Error Tracking Controller) achieves high precision tracking and avoids serious problems such as quadrant...
Tracking errors in disk drive systems have a significant repetitive component that is not explicitly taken into account in conventional servo controllers. Three specialized digital controllers applied as plug-in modules to a winchester disk drive with a pre-existing analog feedback controller to demonstrate their efficacy in the reduction of this periodic component. These controllers include the discrete...
This paper presents a general indirect adaptive feed-forward control scheme for the purpose of tracking time varying signals. An approach which allows independent design of the adaptive identifier and the feed-forward tracking controller is given and so is the characterization of its tracking performance. When disturbances and unmodeled dynamics exist, methods such as signal filtering, dead zone and...
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