- Title
- Improved control design methods for proximate time-optimal servomechanisms
- Creator
- Salton, Aurélio T.; Chen, Zhiyong; Fu, Minyue
- Relation
- IEEE / ASME Transactions on Mechatronics Vol. 17, Issue 6, p. 1049-1058
- Publisher Link
- http://dx.doi.org/10.1109/TMECH.2011.2158110
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2012
- Description
- It is well known that minimum time-optimal control for servomechanisms can generate chattering in the presence of measurement noises, feedback delays, or model uncertainties; thus, it is not practical in applications. Maybe, the most popular alternative approach is the so-called proximate time-optimal servomechanism (PTOS). This approach starts with a near-time-optimal controller and, then, switches to a linear controller when the system output is close to a given target. However, the chattering problem is avoided at the expense of a slower time response. In this paper, two methods for eliminating the conservatism present in the PTOS are proposed. The first method applies a dynamically damped controller that allows the so-called acceleration discount factor to be pushed arbitrarily close to 1. The second method applies a continuous nonlinear control law that makes use of no switching. Experimental results show that the proposed designs practically eliminate the conservatism in the traditional PTOS.
- Subject
- motion control; nonlinear feedback; time-optimal performance
- Identifier
- http://hdl.handle.net/1959.13/1307899
- Identifier
- uon:21560
- Identifier
- ISSN:1083-4435
- Language
- eng
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