Robustness evaluation of fuzzy-based NCTF control of Point-To-Point(PTP) positioning systems
The positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application. For satisfying these requirements, NCTF (nominal character...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/6958/1/Robustness_Evaluation_of_Fuzzy-based_NCTF_Control_of_Point-to-point.pdf http://irep.iium.edu.my/6958/4/02526webtoc.pdf http://irep.iium.edu.my/6958/ |
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| Summary: | The positioning systems generally need a good
controller to achieve high accuracy, fast response and
robustness. In addition, ease of controller design and
simplicity of controller structure are very important for
practical application. For satisfying these requirements,
NCTF (nominal characteristic trajectory following controller)
has been proposed as a practical point-to-point (PTP)
positioning control. However, the NCTF control system has a
PI compensator which is designed without systematic
procedure for obtaining the best PI compensator parameters.
To overcome this problem, in this paper, fuzzy compensator is
proposed and used to replace the PI compensator. The
effectiveness of the proposed Fuzzy—based NCTF controller
is evaluated and compared with those of normal NCTF and
PID controllers through simulation. Furthermore, robustness
to parameter variations of the NCTF controller with the
proposed fuzzy compensator is also studied. Simulation results
show that the NCTF controller with fuzzy compensator is not
only effective for PTP positioning system but also robust to
inertia variation. |
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