Abstract
In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap metric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking performance of the servo positioning system.
Highlights
High precision motion control has become an essential requirement in today’s advanced manufacturing systems such as machine tools, micro-manipulators, surface mounting robots, etc
The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap metric is utilized to validate the intelligently estimated uncertainty
High precision motion control is first challenged by the presence of friction, as a highly complex, nonlinear phenomenon exists in almost every mechanical system involving relative motion between parts
Summary
High precision motion control has become an essential requirement in today’s advanced manufacturing systems such as machine tools, micro-manipulators, surface mounting robots, etc. The growth of research in this area and the rapid increase in precise positioning applications [1,2,3,4,5,6] have imposed additional demands on precise positioning systems where the need for a higher precision at higher bandwidth, improved robust stability against different uncertainties, and large improvement tracking performance are essential requirements. The varieties of these applications with different operating conditions necessitate robust control designs to meet challenging requirements
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