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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 modeling methodology for unknown disturbances based on a disturbance estimation using a iterative learning process in mechatronic systems. In this research, the nonlinear friction and the modeling errors between mathematical model and actual plant system should be handled as the disturbances in mechanism because these phenomena mainly deteriorate the trajectory control performances...
This paper presents a command shaping technique based on a minimum jerk control approach for the fast and precise positioning in vibratory mechatronic systems, considering a target position correction during the positioning motion. The positioning controller is designed in the framework of 2-degrees-of-freedom control: a feedback compensator is synthesized by a Hinfin control design to ensure the...
This paper presents a minimum jerk transition method-based position command shaping without the specified frequency components. In the mechatronic fields, the 2-degrees-of-freedom position controller is well-known powerful tool to realize both the robust stability and the fast and precise positioning performance. On the other hand, the notch filter to suppress the lower frequency vibration deteriorates...
This paper presents an evolutionary algorithm for the robust motion controller design in mechatronics systems, using a genetic algorithm. The control system is composed of a robust 2-DOF compensator based on the coprime factorization description. Conventional controller design approaches to the optimization for compensator free parameters essentially requires complicated numerical procedures under...
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