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Real‐time compensation for positioning performance using on‐line parameter identification and initial value compensation
Author(s) -
Hirose Noriaki,
Terachi Yasuhisa,
Kawafuku Motohiro,
Iwasaki Makoto,
Hirai Hiromu
Publication year - 2010
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20926
Subject(s) - settling time , compensation (psychology) , control theory (sociology) , mechatronics , nonlinear system , identification (biology) , line (geometry) , position (finance) , computer science , control engineering , engineering , control (management) , mathematics , physics , artificial intelligence , step response , psychology , botany , geometry , finance , quantum mechanics , biology , psychoanalysis , economics
Abstract Variations and/or uncertainties in environments of mechatronic systems, such as electrical/mechanical parameter changes and nonlinear components, generally deteriorate the motion control performance. In our research, the fast and precise position settling performance for parameter variations in positioning devices can be improved by techniques of an on‐line parameter identification and an initial value compensation. The proposed technique allows the positioning systems to be adaptive and robust for unknown parameter variations. The effectiveness of the approach has been verified by numerical simulations and experiments using a prototype. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 171(2): 40–49, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20926