NDLI: Improved Control Design Methods for Proximate Time-Optimal Servomechanisms

Content Provider	IEEE Xplore Digital Library
Author	Salton, A.T. Zhiyong Chen Minyue Fu
Copyright Year	1996
Abstract	It is well known that minimum time-optimal control for servomechanisms can generate chattering in the presence of measurement noises, feedback delays, or model uncertainties; thus, it is not practical in applications. Maybe, the most popular alternative approach is the so-called proximate time-optimal servomechanism (PTOS). This approach starts with a near-time-optimal controller and, then, switches to a linear controller when the system output is close to a given target. However, the chattering problem is avoided at the expense of a slower time response. In this paper, two methods for eliminating the conservatism present in the PTOS are proposed. The first method applies a dynamically damped controller that allows the so-called acceleration discount factor to be pushed arbitrarily close to 1. The second method applies a continuous nonlinear control law that makes use of no switching. Experimental results show that the proposed designs practically eliminate the conservatism in the traditional PTOS.
Starting Page	1049
Ending Page	1058
Page Count	10
File Size	1058995
File Format	PDF
ISSN	10834435
Volume Number	17
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Servomechanisms Motion control Automatic control time-optimal performance nonlinear feedback
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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