Control Design of Antenna Servo Systems with Velocity Tracking Using LMIs

2020 ◽  
Vol 68 (5) ◽  
pp. 189-194
Author(s):  
Shinsuke Sakamoto ◽  
Takashi Shimomura ◽  
Sayaka Kanata
Keyword(s):  
Control Design ◽  
Servo Systems ◽  
Velocity Tracking

Optimal Simultaneous Kinematic, Dynamic and Control Design of High Performance Manipulators Based on Trajectory Pattern Method

1998 ◽  
Author(s):  
J. Rastegar ◽  
L. Liu ◽  
M. Mattice
Keyword(s):  
High Speed ◽  
High Performance ◽  
Optimality Criterion ◽  
Control Design ◽  
Tracking Errors ◽  
Motion Patterns ◽  
Trajectory Pattern ◽  
And Control ◽  
Velocity Tracking ◽  
Trajectory Pattern Method

Abstract An optimal simultaneous kinematic, dynamic and control design approach is proposed for high performance computer controlled machines such as robot manipulators. The approach is based on the Trajectory Pattern Method (TPM) and a fundamentally new design philosophy that such machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. In the proposed approach, given the structure of the manipulator, its kinematic, dynamic and control parameters are optimized simultaneously with the parameters that describe the selected trajectory pattern. In the example presented in this paper, a weighted sum of the norms of the higher harmonics appearing in the actuating torques and the integral of the position and velocity tracking errors are used to form the optimality criterion. The selected optimality criterion should yield a system that is optimally designed to accurately follow the specified trajectory at high speed. Other objective functions can be readily formulated to synthesize systems for optimal performance. The potentials of the developed method and its implementation for generally defined motion patterns are discussed.

Robust repetitive control design and its application on linear servo systems

2015 ◽  
Vol 16 (1) ◽  
pp. 21-29 ◽  
Author(s):  
Zeyuan Li ◽  
Wennong Zhang ◽  
Yihuang Zhang ◽  
Xiang Xu
Keyword(s):  
Repetitive Control ◽  
Control Design ◽  
Servo Systems

Optimal multirate control design for hard disk drive servo systems

1998 ◽  
Vol 34 (4) ◽  
pp. 1898-1900 ◽  
Author(s):  
Ruifeng Chen ◽  
Guoxiao Guo ◽  
T. Huang ◽  
Teck-Seng Low ◽  
S. Weerasooriya
Keyword(s):  
Hard Disk Drive ◽  
Control Design ◽  
Hard Disk ◽  
Disk Drive ◽  
Servo Systems ◽  
Multirate Control

Control Design for Relative Stability in a PWM-Controlled Pneumatic System

2003 ◽  
Vol 125 (3) ◽  
pp. 504-508 ◽  
Author(s):  
Eric J. Barth, ◽  
Jianlong Zhang, and ◽  
Michael Goldfarb
Keyword(s):  
Pressure Sensors ◽  
Control Design ◽  
Equivalent Model ◽  
Servo Systems ◽  
Switching Model ◽  
Stability Robustness ◽  
Switching Dynamics ◽  
Degree Of Stability ◽  
Model Equivalence ◽  
Control Methodology

This paper presents a control design methodology that provides a prescribed degree of stability robustness for plants characterized by discontinuous (i.e., switching) dynamics. The proposed control methodology transforms a discontinuous switching model into a linear continuous equivalent model, so that loop-shaping methods may be utilized to provide a prescribed degree of stability robustness. The approach is specifically targeted at pneumatically actuated servo systems that are controlled by solenoid valves and do not incorporate pressure sensors. Experimental demonstration of the approach validates model equivalence and demonstrates good tracking performance.

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