NDLI: Development of Control System by Nonlinear Compensation Using Digital Acceleration Control

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Emaru, Takanori Imagawa, Kazuo Hoshino, Yohei Kobayashi, Yukinori
Copyright Year	2010
Abstract	Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator.
Sponsorship	Dynamic Systems and Control Division
Starting Page	461
Ending Page	467
Page Count	7
File Format	PDF
ISBN	9780791844182
DOI	10.1115/DSCC2010-4125
e-ISBN	9780791838846
Volume Number	ASME 2010 Dynamic Systems and Control Conference, Volume 2
Conference Proceedings	ASME 2010 Dynamic Systems and Control Conference
Language	English
Publisher Date	2010-09-12
Publisher Place	Cambridge, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Errors Inertia (mechanics) Simulation results Friction Gravity (force) Control equipment Control systems Manipulators Robustness Modeling
Content Type	Text
Resource Type	Article

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