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Robustness evaluation of two control methods for friction compensation of PTP positioning systems

Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point...

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Main Author: Wahyudi, Martono
Format: Conference or Workshop Item
Language:English
Published: 2003
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/31455/1/PTP_positioning.pdf
http://irep.iium.edu.my/31455/
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spelling my.iium.irep.314552017-06-21T02:53:28Z http://irep.iium.edu.my/31455/ Robustness evaluation of two control methods for friction compensation of PTP positioning systems Wahyudi, Martono T Technology (General) Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator. 2003-06 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/31455/1/PTP_positioning.pdf Wahyudi, Martono (2003) Robustness evaluation of two control methods for friction compensation of PTP positioning systems. In: Proceedings of 2003 IEEE Conference on Control Applications, 23-25 June 2003, Istanbul. doi:10.1109/CCA.2003.1223228
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Wahyudi, Martono
Robustness evaluation of two control methods for friction compensation of PTP positioning systems
description Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator.
format Conference or Workshop Item
author Wahyudi, Martono
author_facet Wahyudi, Martono
author_sort Wahyudi, Martono
title Robustness evaluation of two control methods for friction compensation of PTP positioning systems
title_short Robustness evaluation of two control methods for friction compensation of PTP positioning systems
title_full Robustness evaluation of two control methods for friction compensation of PTP positioning systems
title_fullStr Robustness evaluation of two control methods for friction compensation of PTP positioning systems
title_full_unstemmed Robustness evaluation of two control methods for friction compensation of PTP positioning systems
title_sort robustness evaluation of two control methods for friction compensation of ptp positioning systems
publishDate 2003
url http://irep.iium.edu.my/31455/1/PTP_positioning.pdf
http://irep.iium.edu.my/31455/
_version_ 1643610027190124544
score 13.211869

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