Robust motion controller design for high-accuracy positioning systems

1996 ◽  
Vol 43 (1) ◽  
pp. 48-55 ◽  
Author(s):  
Ho Seong Lee ◽  
M. Tomizuka
Keyword(s):  
Controller Design ◽  
High Accuracy ◽  
Motion Controller ◽  
Positioning Systems

scholarly journals Anti-Windup Scheme for Practical Control of Positioning Systems

1970 ◽  
Vol 5 (2) ◽  
Author(s):  
Wahyudi Tarig Faisal and Abdulgani Albagul
Keyword(s):  
Controller Design ◽  
Actuator Saturation ◽  
Fast Response ◽  
High Accuracy ◽  
Positioning System ◽  
Practical Application ◽  
Positioning Control ◽  
Positioning Systems ◽  
Trajectory Following ◽  
Point To Point

Positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application.  For satisfying these requirements, nominal characteristic trajectory following controller (NCTF) has been proposed as a practical point-to-point (PTP) positioning control. However, the effect of actuator saturation can not be completely compensated for due to the integrator windup as the plant parameters vary. This paper presents a method to improve the NCTF controller for overcoming the problem of integrator windup using simple and classical tracking anti-windup scheme. The improved NCTF controller is evaluated through simulation using a rotary positioning system. The results show that the improved NCTF controller is adequate to compensate for the effect of integrator windup. Keywords: Positioning, point-to-point, integrator windup, compensation, controller, robustness.

Embedded motion controller design based on RTEX network

2013 ◽  
Vol 33 (12) ◽  
pp. 3604-3607
Author(s):  
Shiyao LIN ◽  
Chongyang WU ◽  
Ruifeng LI
Keyword(s):  
Controller Design ◽  
Motion Controller
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