Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Robust Tracking Controller by the Estimation of Vibration Quantity

진동량 추정을 통한 강인 트랙킹 제어기의 설계

  • 이문노 (동의대학교 컴퓨터공학과) ;
  • 진경복 (한국기술교육대학교 메카트로닉스공학부) ;
  • 윤기봉 ((주) ASEN)
  • Published : 2007.09.01
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Abstract

This paper presents a robust tracking controller design method for the track-following system of an optical recording device. A tracking loop gain adjustment algorithm is introduced to accurately estimate the tracking vibration quantity in spite of the uncertainties of the tracking actuator. A minimum tracking open-loop gain is calculated by the estimated tracking vibration quantity and a tolerable limit of tracking error. A robust tracking controller is designed by considering a robust $H_\infty$ control problem with the weighting function of a slightly larger gain than the minimum tracking open-loop gain. The proposed controller design method is applied to the track-following system of an optical recording device and is evaluated through the experimental result.

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References

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