NDLI: Practical and robust control for precision motion: AR-CM NCTF control of a linear motion mechanism with friction characteristics

Content Provider	IET Digital Library
Author	Chong, Shin Horng Sato, Kaiji
Abstract	This study presents the framework of the acceleration reference continuous motion nominal characteristic trajectory following (AR-CM NCTF) control system, and its effectiveness in a linear motion mechanism with friction characteristics is experimentally demonstrated in comparison with the other control methods. The overall control system comprises the feedback-loops for velocity reference and acceleration reference following controls. The AR-CM NCTF control is an enhanced continuous motion NCTF (CM NCTF) control that has been proposed for high-precision motion. It has the same structure as the CM NCTF controller with additional elements for high-precision motion. The design procedure of the AR-CM NCTF controller remains easy and is independent of friction characteristics. The usefulness and advantages of the proposed controller are shown in the experimental studies. Besides, this study also highlights the robustness of the AR-CM NCTF controller by examining its performances in point-to-point and tracking motions in the presence of mass and disturbance force variations. In the robust performance, the AR-CM NCTF controller is compared with two types of proportional derivative control systems with disturbance observers (PDDOs). The comparative experimental results illustrate that the AR-CM NCTF controller shows the higher motion performances the higher robustness to plant parameter variations than the PDDO controllers.
Starting Page	745
Ending Page	754
Page Count	10
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 5, Mar (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0544
Journal	IET Control Theory & Applications
Publisher Date	2015-03-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Acceleration Control Acceleration Reference Continuous Motion Nominal Characteristic Trajectory Following Control Acceleration Reference Following Controls AR-CM NCTF Control System Design Control System Analysis Control System Synthesis Enhanced CM NCTF Control Enhanced Continuous Motion NCTF Control Feedback Feedback-loops Friction Friction Characteristic High-precision Motion Linear Motion Mechanism Motion Control Positioning Robust Control Rotation Control Spatial Variables Control Stability in Control Theory Synthesis Method Tracking Control Trajectory Control Velocity Velocity Control Velocity Reference Following Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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