Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464111
K. Tsuruta, Kazuya Sato, Sunao Sawada, K. Kosaka
The need for high precision and a fast response time in positioning tables in the machine tool and semiconductor fields has grown. To achieve such requirements, a synchronous piezoelectric device driver to control the stage has been proposed. The stage is driven by the scratching force of this device, but the control performance was shown to be affected by the nonlinear friction force. Thus, a friction compensation method which was based on PID+FF control with sliding mode compensator was proposed for a high precision stage control [1]. In this paper, we propose an alternative compensation method, consisting of the conventional method with a bang-bang friction compensator. Experimental results are given to show the effectiveness of our proposed method. Using our new method, the high frequency fluctuation phenomena in the control input becomes smaller than in the conventional method.
{"title":"Nonlinear compensation method with bang-bang compensator for a high precision stage using synchronous piezoelectric device driver","authors":"K. Tsuruta, Kazuya Sato, Sunao Sawada, K. Kosaka","doi":"10.1109/AMC.2010.5464111","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464111","url":null,"abstract":"The need for high precision and a fast response time in positioning tables in the machine tool and semiconductor fields has grown. To achieve such requirements, a synchronous piezoelectric device driver to control the stage has been proposed. The stage is driven by the scratching force of this device, but the control performance was shown to be affected by the nonlinear friction force. Thus, a friction compensation method which was based on PID+FF control with sliding mode compensator was proposed for a high precision stage control [1]. In this paper, we propose an alternative compensation method, consisting of the conventional method with a bang-bang friction compensator. Experimental results are given to show the effectiveness of our proposed method. Using our new method, the high frequency fluctuation phenomena in the control input becomes smaller than in the conventional method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128640559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464024
Y. Uchimura, Hiroyuki Shimano
This paper proposes a compensation scheme for both the time varying delay and the plant model uncertainty. As well known, time delay in feedback loop does not only weaken system performance, in worst-case situations it can cause system unstable. Conventional research treated the time varying delay as uncertain perturbation; however it restricts the performance of the system. In fact, the time delay on a network is not completely uncertain. That is, it is measurable value. Therefore we propose a method to measure individual time delays and utilize them for the model-based compensator. In the model based control, the modeling error between the plant model and real plant can affect the performance and stability of the system. However, perfect modeling of the plant is very difficult; therefore we employed a robust control based compensator to avoid the instability due to uncertainty. To evaluate the performance of the proposed system, we carried out experiments on a motor control system. From the results, we verified the stability and satisfactory performance of the system with the proposed methods.
{"title":"Model based networked control for time-varying delay and modeling error","authors":"Y. Uchimura, Hiroyuki Shimano","doi":"10.1109/AMC.2010.5464024","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464024","url":null,"abstract":"This paper proposes a compensation scheme for both the time varying delay and the plant model uncertainty. As well known, time delay in feedback loop does not only weaken system performance, in worst-case situations it can cause system unstable. Conventional research treated the time varying delay as uncertain perturbation; however it restricts the performance of the system. In fact, the time delay on a network is not completely uncertain. That is, it is measurable value. Therefore we propose a method to measure individual time delays and utilize them for the model-based compensator. In the model based control, the modeling error between the plant model and real plant can affect the performance and stability of the system. However, perfect modeling of the plant is very difficult; therefore we employed a robust control based compensator to avoid the instability due to uncertainty. To evaluate the performance of the proposed system, we carried out experiments on a motor control system. From the results, we verified the stability and satisfactory performance of the system with the proposed methods.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132079856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464105
A. Amthor, Stephan Zschäck, C. Ament
The presented work concerns the modeling and experimental verification of the highly nonlinear behavior in positioning on the nanometer scale. The main goal of this work is to identify and extend a simple dynamic friction model, which allows a model-based estimation of the friction force including the system inertia only based on a displacement input. Experiments in the pre-sliding and sliding friction regimes are conducted on a high precision positioning stage. A hybrid parameter estimation algorithm is used offline to fit the model parameters based on the experimental data. Extensive experiments show, that the system behavior of the experimental setup is highly position dependent and hence the inverse system model is not valid over the whole operating range of the positioning stage. To solve this problem the parameters of the friction model are adjusted online to ensure precise friction estimation over the positioning range of 200 mm. Finally, an adaptive model is utilized as a model-based friction compensator in a trajectory tracking control scheme. With this adaptive control approach the tracking error is reduced significantly.
{"title":"Friction compensation for Nanopositioning and Nanomeasuring Machines","authors":"A. Amthor, Stephan Zschäck, C. Ament","doi":"10.1109/AMC.2010.5464105","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464105","url":null,"abstract":"The presented work concerns the modeling and experimental verification of the highly nonlinear behavior in positioning on the nanometer scale. The main goal of this work is to identify and extend a simple dynamic friction model, which allows a model-based estimation of the friction force including the system inertia only based on a displacement input. Experiments in the pre-sliding and sliding friction regimes are conducted on a high precision positioning stage. A hybrid parameter estimation algorithm is used offline to fit the model parameters based on the experimental data. Extensive experiments show, that the system behavior of the experimental setup is highly position dependent and hence the inverse system model is not valid over the whole operating range of the positioning stage. To solve this problem the parameters of the friction model are adjusted online to ensure precise friction estimation over the positioning range of 200 mm. Finally, an adaptive model is utilized as a model-based friction compensator in a trajectory tracking control scheme. With this adaptive control approach the tracking error is reduced significantly.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130270822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464100
Esam H. Abd-Elhameed, M. Iwasaki
Ball-screw-driven mechanism has been used in many industrial applications. In microscopic displacement range, resonant modes, dead time in addition to nonlinear friction of this mechanism deteriorate the positioning performance. To obtain high precision response in this displacement range, a control scheme was proposed as a composition of two types of control methodology: a feedforward compensator and a feedback hybrid approach with nonlinear friction compensation using DOB (Disturbance Observer). The hybrid approach combines RCGAs (real-coded genetic algorithms) as optimization techniques to provide an automatic off-line selection for PDFLC (Proportional plus Derivative Fuzzy Logic Controller) membership function parameters. Simulated and experimental results demonstrated the effectiveness and robustness of the proposed controller.
{"title":"Hybrid intelligent controller for high precision positioning mechanism","authors":"Esam H. Abd-Elhameed, M. Iwasaki","doi":"10.1109/AMC.2010.5464100","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464100","url":null,"abstract":"Ball-screw-driven mechanism has been used in many industrial applications. In microscopic displacement range, resonant modes, dead time in addition to nonlinear friction of this mechanism deteriorate the positioning performance. To obtain high precision response in this displacement range, a control scheme was proposed as a composition of two types of control methodology: a feedforward compensator and a feedback hybrid approach with nonlinear friction compensation using DOB (Disturbance Observer). The hybrid approach combines RCGAs (real-coded genetic algorithms) as optimization techniques to provide an automatic off-line selection for PDFLC (Proportional plus Derivative Fuzzy Logic Controller) membership function parameters. Simulated and experimental results demonstrated the effectiveness and robustness of the proposed controller.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126597959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464072
Hiroyuki Endo, H. Fujimoto
In a short-span seeking-mode of hard disk drives, the two-degree-of-freedom control is generally used. Authors' group proposed the perfect tracking control (PTC) method in order to achieve high accuracy and high speed controlling. We also proposed the learning PTC method which can suppress the overshoot by learning the tracking error in acceleration and deceleration period. In this paper, we propose the developed method named “Integral Type Learning PTC” which can suppress the overshoot higher by integral type learning of the trajectory tracking error.
{"title":"Short-span seeking control of hard disk drive based on integral type learning PTC","authors":"Hiroyuki Endo, H. Fujimoto","doi":"10.1109/AMC.2010.5464072","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464072","url":null,"abstract":"In a short-span seeking-mode of hard disk drives, the two-degree-of-freedom control is generally used. Authors' group proposed the perfect tracking control (PTC) method in order to achieve high accuracy and high speed controlling. We also proposed the learning PTC method which can suppress the overshoot by learning the tracking error in acceleration and deceleration period. In this paper, we propose the developed method named “Integral Type Learning PTC” which can suppress the overshoot higher by integral type learning of the trajectory tracking error.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126026582","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464088
S. Akiba, T. Zanma, M. Ishida
This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.
{"title":"Optimal tracking control of two-wheeled mobile robots based on model predictive control","authors":"S. Akiba, T. Zanma, M. Ishida","doi":"10.1109/AMC.2010.5464088","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464088","url":null,"abstract":"This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121183042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464099
Chuxiong Hu, B. Yao, Qingfeng Wang
The recently proposed integrated direct/indirect adaptive robust controller (DIARC) for a class of nonlinear systems with unknown input dead-zones is combined with desired trajectory compensation to achieve asymptotic stability with excellent tracking performance. The algorithm is tested on a linear motor drive system preceded by a simulated non-symmetric dead-zone which is practically supposed to be unknown. Certain guaranteed robust transient performance and final tracking accuracy are achieved even when the overall system may be subjected to parametric uncertainties, time-varying disturbances and other uncertain nonlinearities. Signal noise that affects the adaptation function is alleviated by replacing the noisy state signal with the desired state feedback. Furthermore, asymptotic output tracking is achieved when there is unknown dead-zone nonlinearity only. Comparative experimental results obtained validate the necessity of dead-zone compensation and the high-effectiveness nature of the proposed approach as well.1
{"title":"A case study for adaptive robust precision motion control of systems preceded by unknown dead-zones with comparative experiments","authors":"Chuxiong Hu, B. Yao, Qingfeng Wang","doi":"10.1109/AMC.2010.5464099","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464099","url":null,"abstract":"The recently proposed integrated direct/indirect adaptive robust controller (DIARC) for a class of nonlinear systems with unknown input dead-zones is combined with desired trajectory compensation to achieve asymptotic stability with excellent tracking performance. The algorithm is tested on a linear motor drive system preceded by a simulated non-symmetric dead-zone which is practically supposed to be unknown. Certain guaranteed robust transient performance and final tracking accuracy are achieved even when the overall system may be subjected to parametric uncertainties, time-varying disturbances and other uncertain nonlinearities. Signal noise that affects the adaptation function is alleviated by replacing the noisy state signal with the desired state feedback. Furthermore, asymptotic output tracking is achieved when there is unknown dead-zone nonlinearity only. Comparative experimental results obtained validate the necessity of dead-zone compensation and the high-effectiveness nature of the proposed approach as well.1","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116692538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464076
K. Kitamura, D. Yashiro, K. Ohnishi
In recent years, haptic communication systems have been attracting attention as third media following visual and audio communication systems. However, the way of transmitting haptic information to many people has not been established yet. The purpose of this research is to develop the basic system which broadcasts the haptic information. This papar proposes a haptic broadcasting system composed of a master-slave system and the other actuators which are used for multiple operators called ‘audience’ to feel environmental impedance. The master-slave system implements a bilateral control based on acceleration control. In the slave side, the environmental impedance is estimated in real time by using the recursive least-squares algorithm with a forgetting factor. The estimated environmental impdance is transmitted over the network to the other actuators which are manipulated by audience in the remote place. Each audience is able to feel the remote environment through each actuator. The validity of the proposed system described in this paper is confirmed by some experimental results.
{"title":"Haptic broadcasting system based on environmental impedance transmission","authors":"K. Kitamura, D. Yashiro, K. Ohnishi","doi":"10.1109/AMC.2010.5464076","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464076","url":null,"abstract":"In recent years, haptic communication systems have been attracting attention as third media following visual and audio communication systems. However, the way of transmitting haptic information to many people has not been established yet. The purpose of this research is to develop the basic system which broadcasts the haptic information. This papar proposes a haptic broadcasting system composed of a master-slave system and the other actuators which are used for multiple operators called ‘audience’ to feel environmental impedance. The master-slave system implements a bilateral control based on acceleration control. In the slave side, the environmental impedance is estimated in real time by using the recursive least-squares algorithm with a forgetting factor. The estimated environmental impdance is transmitted over the network to the other actuators which are manipulated by audience in the remote place. Each audience is able to feel the remote environment through each actuator. The validity of the proposed system described in this paper is confirmed by some experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124959175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464092
D. Cattin, R. Oboe, R. Dahiya, M. Valle
This paper presents the identification of a piezoelectric tactile sensor which aims to give the sense of touch to humanoid robots. The sensor has been characterized in frequency domain and the low frequency behavior reveals a non-integer behavior. A simple model based on the a priori knowledge of the sensor and the observation of the frequency response has been hypothesized and a least squares method has been applied to identify the device. The impulse response has been calculated using the Mittag-Leffler function and validation in time domain has been performed. Simulation and experimental results are in good agreement showing that the identified model, despite its simplicity, is able to represent properly the tactile sensor.
{"title":"Identification and validation of a fractional order dynamic model for a piezoelectric tactile sensor","authors":"D. Cattin, R. Oboe, R. Dahiya, M. Valle","doi":"10.1109/AMC.2010.5464092","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464092","url":null,"abstract":"This paper presents the identification of a piezoelectric tactile sensor which aims to give the sense of touch to humanoid robots. The sensor has been characterized in frequency domain and the low frequency behavior reveals a non-integer behavior. A simple model based on the a priori knowledge of the sensor and the observation of the frequency response has been hypothesized and a least squares method has been applied to identify the device. The impulse response has been calculated using the Mittag-Leffler function and validation in time domain has been performed. Simulation and experimental results are in good agreement showing that the identified model, despite its simplicity, is able to represent properly the tactile sensor.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121449846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464075
A. Suzuki, K. Ohnishi
Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the “Operationality” of master robot but simultaneously deteriorates “Reproducibility” of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
{"title":"Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer","authors":"A. Suzuki, K. Ohnishi","doi":"10.1109/AMC.2010.5464075","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464075","url":null,"abstract":"Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the “Operationality” of master robot but simultaneously deteriorates “Reproducibility” of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122670211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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