High-Performance Tracking Controller Design for Rotary Motion Control System

다국어 초록 (Multilingual Abstract)

A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional–integral–derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.

목차 (Table of Contents)

• ABSTRACT
• 1. Introduction
• 2. Friction Measurements, Modeling and Compensation
• 3. Design of Feedforward Tracking Controller
• 4. Disturbance Observer: A Class of Robust Feedback Controller
• 5. Robust Tracking Controller Design and Its Performance Evaluation
• 6. Conclusion
• References