- Title
- Dual-stage actuator control design using a doubly coprime factorization approach
- Creator
- Zheng, Jinchuan; Su, Weizhou; Fu, Minyue
- Relation
- IEEE--ASME Transactions on Mechatronics Vol. 15, Issue 3, p. 339-348
- Publisher Link
- http://dx.doi.org/10.1109/tmech.2009.2025772
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2010
- Description
- This paper first reveals that the tracking and disturbance rejection problems can be decoupled into two independent optimization problems under the 2-DOF control framework. This result is then used for the design of a 2-DOF controller for a dualstage actuator (DSA) system to provide desired performance of disturbance rejection and step tracking. The 2-DOF controller is designed based on the doubly coprime factorization approach, with which the closed-loop transfer function is expressed explicitly in terms of design parameters.This greatly simplifies the optimization of design parameters in meeting desired specifications.We further study how to use the design parameters to deal with specific problems in the DSA, i.e., control allocation and trajectory planning. For step tracking beyond the secondary actuator range, a nonlinear controller is also used for the primary actuator to complete the task. Experimental results demonstrate the practical implementation of the DSA control system and verify its effectiveness for step tracking and disturbance rejection and its robust performance under load changes.
- Subject
- doubly coprime factorization (DCF); dual-stage actuator (DSA); motion control; 2-DOF control
- Identifier
- uon:9614
- Identifier
- http://hdl.handle.net/1959.13/922667
- Identifier
- ISSN:1083-4435
- Rights
- Copyright © 2010 IEEE. Reprinted from IEEE--ASME Transactions on Mechatronics Vol. 15, Issue 3, p. 339-348. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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