contributor author | SangJoo Kwon | |
contributor author | Ph.D. candidate | |
contributor author | Wan Kyun Chung | |
date accessioned | 2017-05-09T00:07:05Z | |
date available | 2017-05-09T00:07:05Z | |
date copyright | June, 2002 | |
date issued | 2002 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26301#261_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/126526 | |
description 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Robust Tracking Controller Design With Hierarchical Perturbation Compensation | |
type | Journal Paper | |
journal volume | 124 | |
journal issue | 2 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.1468996 | |
journal fristpage | 261 | |
journal lastpage | 271 | |
identifier eissn | 1528-9028 | |
keywords | Dynamics (Mechanics) | |
keywords | Stability | |
keywords | Control equipment | |
keywords | Errors | |
keywords | Feedback | |
keywords | Industrial plants | |
keywords | Tracking control | |
keywords | Feedforward control | |
keywords | Design | |
keywords | Signals AND Filters | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2002:;volume( 124 ):;issue: 002 | |
contenttype | Fulltext | |