Intelligent disturbance rejection for robust tracking performance of X-Y positioning system
In this paper, design and implementation of an intelligent disturbance weighting function for H�-based precision positioning control system is presented for an AC motor drive X-Y table positioning mechanism. The system works with a robust feedback controlled, enhanced by an outer loop int...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5395/1/icma2010_safanah.pdf http://irep.iium.edu.my/5395/ http://dx.doi.org/10.1109/ICMA.2010.5589083 |
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| Summary: | In this paper, design and implementation of an
intelligent disturbance weighting function for H�-based
precision positioning control system is presented for an AC
motor drive X-Y table positioning mechanism. The system
works with a robust feedback controlled, enhanced by an outer
loop integral control. The objective is to achieve high tracking
and contouring performances even in the presence of
uncertainties and disturbances. The effect of crosstalk between
the two axes is considered as disturbance that is treated by
intelligent estimated disturbance weighting functions using
adaptive neuro fuzzy inference system (ANFIS). The developed
controller is implemented experimentally, and a tracking
performance of less than 1�m is achieved. Contouring error of
less than 1���m is achieved as well.
Index Terms- intelligent H�-based precision positioning control
system, tracking performances, X-Y table positioning
mechanism, AC motor drive, disturbance weighting function. |
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