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    A Robust Tracking Controller Design With Hierarchical Perturbation Compensation

    Source: Journal of Dynamic Systems, Measurement, and Control:;2002:;volume( 124 ):;issue: 002::page 261
    Author:
    SangJoo Kwon
    ,
    Ph.D. candidate
    ,
    Wan Kyun Chung
    DOI: 10.1115/1.1468996
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: A robust tracking controller for mechanical systems is proposed by combining the robust perturbation compensator which effectively attenuates the perturbation to the plant with the nominal tracking controller designed using the sliding surface. This approach enables a smooth sliding mode in tracking control loop without chattering problem. A unified view is given on a class of perturbation observers. Three kinds of equivalent expressions for the perturbation of a plant is described. In terms of the equivalents, we propose the feedforward perturbation observer (FFPO), the feedback perturbation observer (FBPO), and the sliding mode perturbation observer (SMPO). Successively, by hierarchically adopting these three observers to attenuate the residual perturbation, the hierarchical perturbation compensator (HPC) is constructed with stability analysis. The adaptive and integral property of the HPC greatly enhances the robust performance with minimal control effort. The actuator saturation issue is also considered. Experimental results demonstrate the effectiveness of the proposed controller.
    keyword(s): Dynamics (Mechanics) , Stability , Control equipment , Errors , Feedback , Industrial plants , Tracking control , Feedforward control , Design , Signals AND Filters ,
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      A Robust Tracking Controller Design With Hierarchical Perturbation Compensation

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/126526
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorSangJoo Kwon
    contributor authorPh.D. candidate
    contributor authorWan Kyun Chung
    date accessioned2017-05-09T00:07:05Z
    date available2017-05-09T00:07:05Z
    date copyrightJune, 2002
    date issued2002
    identifier issn0022-0434
    identifier otherJDSMAA-26301#261_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/126526
    description abstractA robust tracking controller for mechanical systems is proposed by combining the robust perturbation compensator which effectively attenuates the perturbation to the plant with the nominal tracking controller designed using the sliding surface. This approach enables a smooth sliding mode in tracking control loop without chattering problem. A unified view is given on a class of perturbation observers. Three kinds of equivalent expressions for the perturbation of a plant is described. In terms of the equivalents, we propose the feedforward perturbation observer (FFPO), the feedback perturbation observer (FBPO), and the sliding mode perturbation observer (SMPO). Successively, by hierarchically adopting these three observers to attenuate the residual perturbation, the hierarchical perturbation compensator (HPC) is constructed with stability analysis. The adaptive and integral property of the HPC greatly enhances the robust performance with minimal control effort. The actuator saturation issue is also considered. Experimental results demonstrate the effectiveness of the proposed controller.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Robust Tracking Controller Design With Hierarchical Perturbation Compensation
    typeJournal Paper
    journal volume124
    journal issue2
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.1468996
    journal fristpage261
    journal lastpage271
    identifier eissn1528-9028
    keywordsDynamics (Mechanics)
    keywordsStability
    keywordsControl equipment
    keywordsErrors
    keywordsFeedback
    keywordsIndustrial plants
    keywordsTracking control
    keywordsFeedforward control
    keywordsDesign
    keywordsSignals AND Filters
    treeJournal of Dynamic Systems, Measurement, and Control:;2002:;volume( 124 ):;issue: 002
    contenttypeFulltext
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    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian