Abstract
Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic control (IDC), an expansion to the classical DI technique, has been trending with implementation in many areas. It has been proved that IDC is capable of overcoming some limitations in DI-based techniques, particularly in cancellation of useful nonlinearities. This paper extends the implementation of IDC on the positional and speed control of the linear servo cart system. Simulation results further proves that IDC is an effective and robust controller evidently when comparing it with the proportional velocity and lead compensator controller.
Highlights
E functionality of the linear servo cart system involves movement of the mechanical component which can lead to friction resulting in the introduction of highly nonlinear disturbance to the control output
One of the popular methods used to deal with nonlinearity is sliding mode controllers (SMCs)
A boundary layer around the switching surface [5] and an integral SMC with switching gains [6] were proposed. Another common way of dealing with nonlinearities is by employing nonlinear dynamic inversion- (NDI-) based technique as shown in [7]. is type of controller is designed by enforcing a stable linear error dynamics intuitively
Summary
The force in (1) can be expressed in terms of the linear velocity of the cart and by considering both the electrical parts and the equation of motion: Jeqv_c(t) + Beqvc(t) AmVm(t),. 3. Design of IDC Control e dynamics of the linear servo cart system can be expressed by rearranging (6) as follows: v_c F + GVm,. 4. IDC Singularity Avoidance e main trouble with generalized inversion techniques is the singularity which is caused by discontinuities in the MPGI matrix function and eventually leads to the structure to go unbounded. IDC Singularity Avoidance e main trouble with generalized inversion techniques is the singularity which is caused by discontinuities in the MPGI matrix function and eventually leads to the structure to go unbounded Such happens when the inverted matrix tends to switch its rank. We denote the scaling factor as u and can be defined as we can update (10) by the following expression: v_c F + G A∗B
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
