NDLI: Feed-forward control of non-minimum phase XY table system using Trajectory Fuzzy-RLS Hybrid ZPETC

Content Provider	IEEE Xplore Digital Library
Author	Adnan, R. Patrick, M.J. Ishak, N.
Copyright Year	2012
Description	Author affiliation: Faculty of Electrical Engineering, UiTM Malaysia, 40450 Shah Alam, Selangor, Malaysia (Adnan, R.; Patrick, M.J.; Ishak, N.)
Abstract	A tracking control for non-minimum phase (NMP) XY Table could not use directly the inverse closed-loop transfer function as the feed-forward controller. This is due to unstable zeros of the closed-loop transfer function will become unstable poles at the feed-forward controller. Thus, ZPETC was introduced to encounter this unstable zeros problem. The ZPETC that was introduced by Tomizuka has unity gain for low frequencies, but not at high frequencies. Hence, this paper proposed a scheme called Trajectory Fuzzy-RLS Hybrid ZPETC without factorization of zeros polynomial where the optimum controller parameters are obtained offline using recursive least square (RLS) method and further retune online through fuzzy inference system (FIS). The tracking performance was compared with the design using Trajectory-Adaptive ZPETC. The simulation and real-time controls of the NMP XY Table show that the tracking performances for circular movement are significantly improved.
Starting Page	10
Ending Page	15
File Size	816780
Page Count	6
File Format	PDF
ISBN	9781467320351
e-ISBN	9781467320368
DOI	10.1109/ICSGRC.2012.6287125
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-16
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Fuzzy logic Tracking Motion Control Feed-forward Control Adaptive Control Transfer functions ZPETC Trajectory Fuzzy Robust Control Mathematical model Non-minimum Phase System
Content Type	Text
Resource Type	Article

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