High-speed and high-precision position control using a sliding mode compensator (original) (raw)

Adaptive Friction Compensation Control of Linear Slider with Considering a Periodic Reference Signal

IEEJ Transactions on Industry Applications, 2005

An adaptive friction compensation method based on notion of H ∞ optimality is proposed. It is assumed that the static and dynamic characteristics of friction are captured by the dynamic LuGre model. Neural-Network (NN) is used to parameterize the nonlinear characteristic function of the friction model. An adaptive NN based controller is given, and an approximation error in NN is regarded as exogenous disturbance to the system. Consequently, in the resulting control system, the L 2 gains from the disturbance to generalized outputs are made less than prescribed positive constants. For the practical applications, σ-modification method and dead-zone method are applied to the estimation strategies. To illustrate the effectiveness of our proposed method, experimental results are shown.

Design of a Compensator for Proportional Navigation with .MU.-Synthesis

JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES

This paper proposes a design method of a missile guidance system with robust control. The design method provides a compensator for the proportional navigation guidance law, explicitly considering the uncertainties by employing the µ-synthesis, a design method of robust control systems. The proposed method has two features: One is that the plant is modeled so that the feedback signal becomes the same as that of the proportional navigation, i.e., the relative velocity multiplied by the line-of-sight angular rate. The other is that the controlled output is chosen to be the component of the relative velocity perpendicular to the line of sight, instead of the line-of-sight angular rate, which is usually chosen in guidance law design based on modern control. Computer simulation is performed using a two-dimensional engagement model to show the effectiveness of the guidance law.

981]Design of a Compensator for Proportional Navigation with mu-Synthesis

Journal of The Japan Society for Aeronautical and Space Sciences, 2005

This paper proposes a design method of a missile guidance system with robust control. The design method provides a compensator for the proportional navigation guidance law, explicitly considering the uncertainties by employing the mu-synthesis, a design method of robust control systems. The proposed method has two features: One is that the plant is modeled so that the feedback signal becomes

H∞ Tracking Control for Minimum Time Slewing of Flexible Space Structure

This paper presents experimental results of H infinity tracking control for slewing flexible space structures. The model of flexible space structure employed in the experiment consists of a rigid body rotating around a shaft and a flexible beam attached to the rigid body. The minimum time optimal control for flexible structure, which is a multi bang-bang control, is used to obtain a reference optimal trajectory. Two full-bridge strain gauges are located at the root of the beam in order to sense the bending-moment of the flexible beam and a tachometer is located at the rotary shaft of the torque motor in order to measure the angular velocity of the rigid main body. The angular velocity and bending-moment are utilized to calculate the control torque provided to the main body. The effectiveness of the H infinity feedback tracking control on suppression of residual vibration and achieving the goal attitude is studied for two types of flexible beams experimentally.

Voltage fluctuation compensator forShinkansen

Electrical Engineering in Japan, 2007

In AC electric Railway, three-phase voltage is changed into the single-phase circuit of two circuits with the Scottconnected transformer. If it becomes large unbalancing of the load between single-phase circuits, voltage fluctuation becomes large on three-phase side. Then, Railway Static Power Conditioner (RPC) was developed for the purpose of controlling voltage fluctuation on three-phase side. An RPC is comprised of a pair of self-commutated PWM inverters. These inverters connect the main phase and teaser feeding buses, coupled with a DC side capacitor such as a Back-To-Back (BTB) converter. In this way, the two self-commutated inverters can act as a static var compensator (SVC) to compensate for the reactive power and as an active power accommodator from one feeding bus to another. 20 MVA/60 kV RPCs started commercial operation in 2002 at each two substations on the newly extended Tohoku Shinkansen for compensating voltage fluctuation on three-phase side caused by traction loads, absorbing harmonic current. The results of operational testing indicate that an RPC can accommodate single-phase loads such as those of PWM-controlled Shinkansen and thyristor phase-controlled Shinkansen, and handle the exciting rush current of transformers, as well as compensate for harmonics successfully.

Collision-free Motion Planning for Multi-Degree of Freedom Manipulator with Electrified Wire

IEEJ Transactions on Electronics Information and Systems

This paper proposes a practical method of collision-free motion planning for multi-degree of freedom manipulators. The proposed method has mainly two concepts. Under this method, the motion planning is considered in real space instead of configuration space in order to reduce the calculation amount. Meanwhile, it is well known that a path planning is executed without local minima under a potential field based on Laplace's equation because such environment has no minimal point. Therefore, we introduced an electrostatic field based on Laplace's equation for path planning of multi-degree of freedom manipulator. Specifically, the path planning of the end-effecter of manipulator is executed under the potential field produced by solving Laplace's differential equation. On the other hand, for the determination of the whole manipulator's shape after the end-effecter position has been derived, we implemented the form changing of the electrical-charged wire in the electrostati...