Matched feedforward/model reference control of a high precision robot with dead-zone

Document Type

Article

Publication Date

1-1-2008

Abstract

A matched feedforward/model reference control is proposed in this brief to improve the transient characteristics of systems with uncertain parasitic nonlinearities. In particular, attention is focused on a New England Affiliated Technologies (NEAT) four-axis positioning system which is designed for high-precision applications. Due to the presence of a dead-zone with variable boundaries in this robot, most conventional methods tend to produce unacceptable transients or steady-state errors. The proposed control method is analyzed for its properties and subsequently implemented on the NEAT robot for experimental verifications. It is observed that the matched feedforward/model reference control method is effective while robust to plant and dead-zone boundary uncertainties. © 2007 IEEE.

Identifier

37749008438 (Scopus)

Publication Title

IEEE Transactions on Control Systems Technology

External Full Text Location

https://doi.org/10.1109/TCST.2007.899733

ISSN

10636536

First Page

94

Last Page

102

Issue

1

Volume

16

Grant

0243302

Fund Ref

National Science Foundation

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