International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Periodic Adaptive Compensation of State-dependent Disturbance in a Digital Servo Motor System

  • Ahn, Hyo-Sung (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute (ETRI)) ;
  • Chen, YangQuan (Dept. of Electrical and Computer Engineering, Utah State University) ;
  • Yu, Won-Pil (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute (ETRI))
  • Published : 2007.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

Keywords

References

  1. Y. Q. Chen, K. L. Moore, and Z. Song, 'Diffusion boundary determination and zone control via mobile actuator-sensor networks (MAS-net): Challenges and opportunities,' Proc.of SPIE's Defense and Security Symposium, Orlando, FL, April 2004
  2. C. C. de Wit and L. Praly, 'Adaptive eccentricity compensation,' IEEE Trans. on Control Systems Technology, vol. 8, no. 5, pp. 757-766, 2000 https://doi.org/10.1109/87.865849
  3. B. Friedland and S. Mentzelopoulou, 'On adaptive friction compensation without velocity measurement,' Proc. of the First IEEE International Conference on Control Applications, Dayton, OH, USA, pp. 1076-1081, Sep. 1992
  4. A. Yazdizadeh and K. Khorasani, 'Adaptive friction compensation based on the Lyapunov scheme,' Proc. of the IEEE International Conference on Control Applications, Dearborn, MI, USA, pp. 1060-1065, Sep. 1996
  5. H.-S. Ahn and Y. Q. Chen, 'State-periodic adaptive friction compensation,' Proc. of the 16th IFAC World Congress, Prague, Czech Republic, July 2005
  6. S.-H. Han, Y.-H. Kim, and I.-J. Ha, 'Iterative identification of state-dependent disturbance torque for high-precision velocity control of servo motors,' IEEE Trans. on Automatic Control, vol. 43, no. 5, pp. 724-729, 1998
  7. H. Du and S. S. Nair, 'Low velocity friction compensation,' IEEE Control Systems Magazine, vol. 18, no. 2, pp. 61-69, 1998 https://doi.org/10.1109/37.664656
  8. A. T. Zaremba, I. V. Burkov, and R. M. Stuntz, 'Active damping of engine speed oscillations based on learning control,' Proc. of the American Control Conference, Philadelphia, PA, USA, pp. 2143-2147, June 1998
  9. C. C. de Wit, 'Control of systems with dynamic friction,' Proc. of CCA'99 Workshop on Friction, Hawaii, USA, Aug. 1999
  10. H.-S. Ahn, Y. Q. Chen, and H. Dou, 'Stateperiodic adaptive compensation of cogging and Coulomb friction in permanent-magnet linear motors,' IEEE Trans. on Magnetics, vol. 41, no.1, pp. 90-98, 2005 https://doi.org/10.1109/TMAG.2004.840182
  11. Jr D. A. Haessig and B. Friedland, 'On the modeling and simulation of friction,' Proc. of the American Control Conference, San Diego, CA, USA, pp. 1256-1261, May 1990
  12. C. C. de Wit and L. Praly, 'Adaptive eccentricity compensation,' Proc. of the 37th IEEE Conference on Decision and Control, Tampa, Florida, pp. 2271-2276, Dec. 1998
  13. Z. Wang, Z. Song, P.-Y. Chen, A. Arora, K. L. Moore, and Y. Q. Chen, 'Masmote-a mobility node for MAS-net (mobile actuator sensor networks),' Proc. of the IEEE International Conference on Robotics and Biomimetics, Shengyang, China, pp. 816- 821, Aug. 2004
  14. H.-S. Ahn, Y. Q. Chen, and Z. Wang, 'Statedependent disturbance compensation in low-cost wheeled mobile robots using periodic adaptation,' Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Alberta, Canada, pp. 729-734, Aug. 2005