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This paper introduces improvement in a practical nominal characteristic trajectory following (NCTF) controller for two mass point-to-point (PTP) rotary positioning systems. The NCTF controller consists of a nominal characteristic trajectory (NCT) as a movement reference and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. The NCTF...
In this paper, a nominal characteristic trajectory following (NCTF) controller for point-to-point (PTP) positioning system for two mass rotary system is introduced and its performance is evaluated. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin...
In this study, a nominal characteristic trajectory following (NCTF) controller for point-to-point (PTP) positioning system is introduced for two mass rotary system and its performance is evaluated. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin...
Motivated by the need for simple and efficient friction model required for precision positioning control, a non-parametric-based technique using v -support vector regression (v-SVR) is proposed and developed in this work for the modeling of friction in a DC motor-driven motion control system. The effectiveness of the developed friction model to compensate the frictional effects is evaluated experimentally...
A non-parametric-based technique using epsiv-insensitivity support vector regression (epsiv-SVR) is proposed and developed in this work for the identification of friction in a DC motor-driven motion control system. The effectiveness of the developed SVR-based friction model to compensate the frictional effects is evaluated experimentally on a rotary experimental set-up for both point-to-point (PTP)...
In this paper, a high precision positioning system identification is studied and analyzed to obtain a suitable model for simulation and control. The selected model must capture most of system dynamics. Second order system model with one pole at the origin proves to be a good selection. System's friction nonlinearity is considered as well; Both LuGre and Stick-Slip friction models were simulated and...
Friction has been shown to be one of the major contributing factors for problem associated with accuracy in motion control systems. Apart from making the system response slow, it causes steady state error or limit cycles near the reference position for the motion control system. In order to alleviate these problems, various control methods have been introduced and proposed for compensating the friction...
Friction has been shown to be one of the major contributing factors for problem associated with accuracy in motion control systems. Apart from making the system response slow, it causes steady state error or limit cycles near the reference position for the motion control system. In order to alleviate these problems, various control methods have been introduced and proposed for compensating the friction...
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