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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| Format: | Conference or Workshop Item |
| Language: | English |
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2003
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| Online Access: | http://irep.iium.edu.my/31455/ http://irep.iium.edu.my/31455/ http://irep.iium.edu.my/31455/1/PTP_positioning.pdf |
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iium-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 PeerReviewed 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 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| 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/ http://irep.iium.edu.my/31455/ http://irep.iium.edu.my/31455/1/PTP_positioning.pdf |
| first_indexed |
2023-09-18T20:45:39Z |
| last_indexed |
2023-09-18T20:45:39Z |
| _version_ |
1777409656795168768 |