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This paper proposes an optimized performance of an intelligent H∞ robust controller of a single axis positioning system. The objective is to achieve wider bandwidth, better resolution, and robustness to modeling uncertainties. The main contribution is the combination of intelligent uncertainty weighting function and optimized weighting function in an H∞ robust controller design. The main distinguishing...
This paper presents the design of two different H∞ robust controllers for a single axis positioning system via two different schemes; The 2 H∞ robust controller, which is suitable for accurate tracking performance and an integrator-H∞ robust controller which can also be tuned for accurate tracking. However, each approach has some certain features that need to be investigated for the application under...
In this paper a previously developed extended minimal resource allocation network (EMRAN) is applied as a controller to actively isolate the vibration from a source to the foundation. The source is mounted by using two passive elastomeric vibration isolators located at the front and rear of the source and an active force actuator acted as counter force to cancel the vibration is placed in parallel...
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...
Sensor is an indispensable component in feedback control. In anti-swing feedback control of automatic gantry crane system, sensors are normally employed to detect trolley position and payload swing angle. However, sensing the payload motion of a real gantry crane, in particular, is troublesome and often costly since there is hoisting mechanism on parallel flexible cable. Therefore, sensorless anti-swing...
Robotics is a field of modern technology which requires knowledge in vast areas such as electrical engineering, mechanical engineering, computer science as well as finance. Nonlinearities and parametric uncertainties are unavoidable problems faced in controlling robots in industrial plants. Tracking control of a single link manipulator driven by a permanent magnet brushed DC motor is a nonlinear dynamics...
To attain a good control performance of automatic gantry crane system, sensors are indispensable instrument for feedback signals. However, sensing the payload motion of a real gantry crane, particularly swing motion, is not easy and sometimes costly. Therefore, a sensorless automatic gantry crane system is developed and proposed in this paper. A soft sensor based on artificial neural network is introduced...
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