scholarly journals Sliding repetitive control with adaptive bound estimation for motion systems liable to periodic exogenous signals

2021 ◽  
Vol 9 (3A) ◽  
Author(s):  
Yu-Sheng Lu ◽  
◽  
Yueh-Tsang Li ◽  
Ming-Chang Lin ◽  
◽  
...  
Keyword(s):  
Actuator Saturation ◽  
Disk Drive ◽  
Motion System ◽  
Sliding Motion ◽  
Adaptive Law ◽  
Tracking Motion ◽  
Repetitive Learning ◽  
Bound Estimation ◽  
Repetitive Controller ◽  
Exogenous Signals

Periodic exogenous signals often exist in motion systems, especially those involving one or more rotating elements. These periodic exogenous signals deteriorate the performance of motion systems, and these adverse effects cannot be practically eliminated by straightforwardly increasing feedback control gains due to sensor noise, actuator saturation, and unmodeled plant dynamics. This paper describes a sliding repetitive controller for motion systems subject to periodic exogenous signals. Moreover, an adaptive law for bound estimation is devised to ensure the presence of a sliding motion for both repetitive learning and disturbance observation. The tracking motion system of a disk drive is considered in practice, and a traditional repetitive controller is also implemented for performance comparisons with the proposed scheme. Experimental results are reported in this paper, showing the efficacy of the proposed scheme.

The Characterization of Stainless Steel Particles under the Sliding Motion

2013 ◽  
Vol 811 ◽  
pp. 140-145
Author(s):  
Pornpiroon Bootchai ◽  
Karuna Tuchinda ◽  
Pijarn Jornsanoh
Keyword(s):  
Particle Size ◽  
Stainless Steel ◽  
Closed System ◽  
Relative Velocity ◽  
Disk Drive ◽  
Material Surface ◽  
Wear Particles ◽  
Sliding Motion ◽  
Machine Elements

The purpose of this research is to study the characteristic of stainless steel particles under the sliding motion. The effects of effective stress and relative velocity on the characteristic of stainless steel wear particles were studied. The is aiming to monitor possible failure mode in various machine elements, especially in the case of a closed system or contamination sensitive processes such as the hard disk drive manufacturing process, etc. The research results showed that the particles smaller than 1 micron generated from material surface asperities. Moreover, the stress magnitude and velocity have the influence on the size and shape of the stainless steel particles, respectively. The increase in stress and speed will result in a larger particle size and more slender shape, respectively. It can be seen that the size and the shape of wear particles vary according to the sliding conditions. Therefore, the results could be used to identify the process in which the contaminated particles were generated for sliding motion.

scholarly journals Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System

Energies ◽  
2021 ◽  
Vol 14 (22) ◽  
pp. 7802
Author(s):  
Wei-Lung Mao ◽  
Yu-Ying Chiu ◽  
Bing-Hong Lin ◽  
Wei-Cheng Sun ◽  
Jian-Fu Tang
Keyword(s):  
Sliding Mode ◽  
Cross Coupling ◽  
Cerebellar Model Articulation Controller ◽  
Model Uncertainties ◽  
Precise Control ◽  
Motion System ◽  
Fuzzy Cmac ◽  
Adaptive Law ◽  
On Line ◽  
Stage System

High-precision trajectory control is considered as an important factor in the performance of industrial two-axis contour motion systems. This research presents an adaptive direct fuzzy cerebellar model articulation controller (CMAC) sliding mode control (DFCMACSMC) for the precise control of the industrial XY-axis motion system. The FCMAC was utilized to approximate an ideal controller, and the weights of FCMAC were on-line tuned by the derived adaptive law based on the Lyapunov criterion. With this derivation in mind, the asymptotic stability of the developed motion system could be guaranteed. The two-axis stage system was experimentally investigated using four contours, namely, circle, bowknot, heart, and star reference contours. The experimental results indicate that the proposed DFCMACSMC method achieved the improved tracking capability, and so reveal that the DFCMACSMC scheme outperformed other schemes of the model uncertainties and cross-coupling interference.

scholarly journals The neural correlate of a higher-order feature-tracking motion system revealed by fMRI

2010 ◽  
Vol 3 (9) ◽  
pp. 790-790
Author(s):  
K. Claeys ◽  
D. T Lindsey ◽  
E. Schutter ◽  
P. Hecke ◽  
G. A Orban
Keyword(s):  
Feature Tracking ◽  
Higher Order ◽  
Neural Correlate ◽  
Motion System ◽  
Tracking Motion

A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation

2015 ◽  
Vol 137 (6) ◽  
Author(s):  
Huihui Tian ◽  
Yuxin Su
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Direct Method ◽  
Actuator Failure ◽  
Asymptotic Tracking ◽  
Repetitive Learning ◽  
Precision Tracking ◽  
Improved Performance ◽  
Three Degree Of Freedom

This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter in the control law formulation and the ability to remove the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method is employed to prove semiglobal asymptotic tracking. Simulation results on a three degree-of-freedom (3DOF) robot illustrate the effectiveness and improved performance of the proposed scheme.

Position-Dependent Disturbance Rejection Using Spatial-Sampling Robust Repetitive Control With Actuator Saturation and Load Uncertainty

2002 ◽  
Author(s):  
Cheng-Lun Chen ◽  
George T.-C. Chiu
Keyword(s):  
Control System ◽  
Actuator Saturation ◽  
Repetitive Control ◽  
Transmission Error ◽  
Transmission System ◽  
Laser Printer ◽  
Spatial Frequencies ◽  
Previous Design ◽  
Proposed Modification ◽  
Repetitive Controller

This paper proposed modification to the previous design of a two degree-of-freedom (TDOF) repetitive control system for a motor/gear transmission system subject to time-varying position-dependent disturbances. The new discrete-position repetitive controller was operated in spatial domain where those periodic disturbances are stationary, i.e. their spatial frequencies do not vary with the nominal operating velocity of the transmission system. Thus, performance of the repetitive controller will not be compromised as the nominal velocity of the system may change due to friction or load variation. Besides, the modified control system also inherited other nice properties, e.g. robustness to actuator saturation and model uncertainties, from the previous design. Simulation and experimental results for a typical 600-dpi laser printer further justified the design by showing significant transmission error reduction. Halftone banding due to periodic transmission errors was also eliminated on printed images for the compensated system.

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