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This paper presents a discrete-time robust nonlinear control scheme to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The control scheme is built on the framework of composite nonlinear feedback (CNF) control, which implements a dynamically-damped closed-loop system to achieve a fast response with low overshoot. A disturbance-rejection...
Modeling uncertainties and measurement noise in physical servo systems severely deteriorate their tracking performance. In this paper, an output feedback control strategy which integrates a discontinuous robust control with extended state observer via feed-forward cancellation technique is proposed for high precision motion control of a dc motor. The designed extended state observer can estimate the...
Unmodeled disturbances always exist in physical servo systems and degrade their tracking performance. In this paper, a practical method named robust control based on disturbance estimation is proposed and integrated for high-accuracy motion control of a dc motor. A finite-time disturbance observer (FTDO) for the unmodeled disturbances is designed and disturbance estimation is used to compensate the...
As an alternative power resource of Hybrid Electric Vehicle (HEV), the Free Piston Engine Generator (FPEG) is investigated for its potential advantages in terms of fuel efficiency and fuel flexiblity. Precise control of piston motion is important for reliable operation of free piston engine. In this paper, a discrete-time control-oriented model of free piston system is derived based on the energy...
The design of a set-point tracking control scheme is presented for typical double-integrator servo systems. The control scheme adopts the framework of proximate time-optimal servomechanism (PTOS). An extended state observer (ESO) is utilized to estimate the un-measured velocity signal and the unknown disturbance, and a disturbance compensation term is included in the PTOS control law. In the presence...
This paper presents a novel measurement method for a large stroke XY nano-positioner (mm-stoke and nanometric accuracy). Based on recently proposed flexure-based large stroke XY nanopositioner, a low cost and simple method is proposed to measure large stroke two-dimensional motion stage. The important feature lies in only two optical gratings are adopted to achieve the measurement for a planner motion,...
In this paper, an adaptive robust control with time-varying output constraints is proposed to synthesize practical high-performance motion controllers for precision DC motor systems in the presence of parametric uncertainties and uncertain nonlinearities effects. An asymmetric time-varying Barrier Lyapunov Function (BLF) is employed to ensure that the initial output can start from anywhere within...
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