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Keywords = postion control

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17 pages, 4266 KB  
Article
Cascade Control for Two-Axis Position Mechatronic Systems
by Dora Morar, Vlad Mihaly, Mircea Şuşcă and Petru Dobra
Fractal Fract. 2023, 7(2), 122; https://doi.org/10.3390/fractalfract7020122 - 28 Jan 2023
Cited by 5 | Viewed by 2251
Abstract
The current paper proposes an extension for two controller design procedures for a two-axis positioning mechatronic system, followed by a comparison between them. As such, the first method consists in formulating an optimization problem in terms of linear matrix inequalities (LMIs) in order [...] Read more.
The current paper proposes an extension for two controller design procedures for a two-axis positioning mechatronic system, followed by a comparison between them. As such, the first method consists in formulating an optimization problem in terms of linear matrix inequalities (LMIs) in order to impose the location of the closed-loop poles, considering an uncertain model of such a system. The uncertain model is treated using various forms of linear differential inclusions (LDIs), namely, polytopic LDI (PLDI) and diagonal norm-bound LDI (DNLDI). Additionally, the problem regarding the command signal constraints is characterized in terms of LMIs. The imposed structure of the controller is a cascade one, with a PI controller for the position loop and a P controller for the velocity loop, having an additional feedforward term. On the other hand, the second method consists in designing a cascade controller with an inner P controller, as in the previous method, the outer controller being a fractional-order IλIDλD (FOID) controller. In terms of degrees of freedom, both methods present four degrees of freedom for each axis. The presented controller design procedures will be applied for a numerical example of such a positioning system, and a comparison of the obtained performance metrics will be performed. Full article
(This article belongs to the Special Issue Applications of Fractional-Order Calculus in Robotics)
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