Precise Positioning Control Using Auto-Tuned Fuzzy Logic Controller
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概要
- 論文の詳細を見る
Nonlinear friction, resonant vibration modes, in addition to dead time of a positioning mechanism deteriorate the control performance in the microscopic displacement range. A control scheme composed of two types of control methodology is proposed in this paper in order to obtain high speed and high precision positioning of a ball-screw-driven mechanism: a feedforward compensator, based on coprime factorization of the positioning mechanism with dead time compensator, and a feedback compensator, an auto-tuned PDFLC (Proportional plus Derivative Fuzzy Logic Controller) based on real coded genetic algorithm as an optimization technique, with nonlinear friction compensation by using inverse model-based disturbance observer. Experimental results verified the effectiveness and robustness of the proposed control system against the difference of the nonlinear friction accompanied with the repetitive motion.
- 2010-11-01
著者
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Iwasaki Makoto
Department Of Computer Science And Engineering Nagoya Institute Of Technology
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ABD-ELHAMEED Esam
Department of Computer Science and Engineering, Nagoya Institute of Technology
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Abd-elhameed Esam
Department Of Computer Science And Engineering Nagoya Institute Of Technology
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IWASAKI Makoto
Department of Chemistry, Tokyo Institute of Technology
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