NDLI: Time-varying internal model-based tracking control for a voice coil motor servo gantry

Content Provider	IEEE Xplore Digital Library
Author	Zhen Zhang Peng Yan Chao Lu Tongtong Leng Bofeng Liu
Copyright Year	2013
Description	Author affiliation: Sch. of Mech. Eng., Shandong Univ., Jinan, China (Tongtong Leng) \|\| Dept. of Mech. Eng., Tsinghua Univ., Beijing, China (Zhen Zhang; Chao Lu) \|\| Sch. of Mech. Eng., Shanghai Jiaotong Univ., Shanghai, China (Bofeng Liu) \|\| Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China (Peng Yan)
Abstract	This paper presents a time-varying internal model-based control algorithm for high precision tracking of frequency-varying trajectories on a Voice Coil Motor (VCM) actuated servo gantry system. A new internal model control structure is proposed with a parallel connection of the stabilizer, which facilitates the design of a low order time-varying stabilizer for the augmented time-varying system. Effectiveness of the proposed control design is validated with simulations and experiments on the VCM servo gantry system. The resulting controller demonstrates good tracking performance with tracking error around 2 μm (RMS) for frequency varying periodic signals with RMS value of 354 μm.
Starting Page	2872
Ending Page	2877
File Size	483980
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Time-varying systems Servomotors Robustness Educational institutions Tracking Mathematical model Observers
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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