Optimization of the Inverted Pendulum Controller with Friction Compensation by Means of the New Method of Lyapunov Exponents Estimation

This text covers optimization of an inverted pendulum control system with friction compensator. The control system is tuned with respect to a performance index based on the novel method of the Largest Lyapunov Exponent estimation. The detailed description of the method is provided. Model of the control object is presented. A simple controller is proposed. Two control systems are compared: the one with compensator and the one without. Parameters of both controllers are optimized with respect to the novel criterion by means of the Differential Evolution method. Results of numerical simulations are presented. It is shown that the new criterion can be successfully applied to both: typical linear regulators and controllers with compensators.

Enhancement the Maneuverability of Tele-Hydraulic System Using Fuzzy Friction Compensator

One degree of freedom (DOF) tele-hydraulic manipulation using force reflecting bilateral control will be investigated. The primary objective in the development of a simple one DOF experimental rig was to allow the investigation of different tele-control strategies prior to their implementation on the eight DOF tele-hydraulic excavator system. Because of the friction nonlinearity characteristic in hydraulic system, high steady state error and overshoot have occurred in the position response as a typical imperfect implementation of associated control dynamic. In this situation, there is a necessity to be able to effectively utilizing the intelligent friction compensated controller. This fuzzy compensator combined with fuzzy controller will be implemented to enhance the maneuverability performance. Experiments were carried out and the experimental results illustrated that the above compensated intelligent framework can improve the bilateral performance

Application of Speed Observer for XY-Stage of Wire Bonder

Wire bonder is important equipment in semiconductor post-packaging. In this paper, a speed observer is applied in the motion control system for XY-stage of wire bonder. A simplified friction model is introduced in the observer to take place of traditional friction compensator. With the introduced manual tuning steps, the model can be easily and exactly identified. The compensator of observer is designed by pole placement. As experiments results showing, high motion speed and acceleration of XY-stage is achieved by applying the introduced control structure. The efficiency of wire bonding process is significantly improved.