A simple nonlinear PD control for faster and high-precision positioning of servomechanisms with actuator saturation

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

This paper investigates the problem of high performance motion control for servomechanisms subject to actuator saturation. A very simple but quite effective nonlinear proportional-derivative (PD) control is proposed for faster and high-precision positioning of such systems. The particular reasoning behind our concern on nonlinear PD (NPD) control is that most of practical servomechanisms so far are still controlled by classic proportional-integral-derivative (PID)/PD or nonlinear PID (NPID)/NPD algorithms and these controls do not explicitly take into account actuator constraint. Lyapunov's direct method is employed to prove global asymptotic positioning stability. The appealing advantages of the proposed control are that it has simple intuitive structure with high computational efficiency and does not involve modelling parameter. An additive feature is that the proposed control has the ability to ensure that actuator constraint is not breached, and thus it completely avoids the instability and degraded or unpredictable motion and thermal or mechanical failure from excessive torque. Simulations and experimental results demonstrate that the proposed approach offers a comparable result over the existing model-dependent nonlinear controls and a much improved performance over the commonly-used model-independent linear PD control for servomechanisms with actuator constraint.

OriginalspracheEnglisch
ZeitschriftMechanical Systems and Signal Processing
Jahrgang121
Seiten (von - bis)215-226
Anzahl der Seiten12
ISSN0888-3270
DOIs
PublikationsstatusErschienen - 15.04.2019

DOI

Zuletzt angesehen

Aktivitäten

  1. Creating transdisciplinary research spaces for sustainable development
  2. BDSM Sagacity: embodying complexity
  3. International Conference on Methods and Models in Automation an Robotics - MMAR 2016
  4. Implementing Sustainability Strategies Through Accounting Controls: An Exploration of Practices in Seven Multinational Corporations
  5. 2nd Organizing Creativity Transalpine Paper Development Workshop
  6. Understanding Corruption by Means of Experiments
  7. PEER Workshop - 2013
  8. Open-Ended Issues - 2015
  9. Contagious Agents: From Generative Social Science to the Computer Simulation of Epidemics
  10. Explicit References in Chat-Based CSCL: Do They Faciliate Global Text Processing? Evidence from Eye Movement Analyses
  11. LC-MS identification of the photo-transformation products of desipramine with studying the effect of different environmental variables on the kinetics of their formation
  12. 4th Global TraPs Workshop "Defining Case Studies – Setting Priorities”
  13. (Un)regulated affect: sensing moods and analyzing sentiments from pre-individual intensities as a new modulation of control
  14. Capitalizing on value dynamics
  15. Towards a Comprehensive Framework for Environmental Management Accounting: Links between Business Actors and EMA Tools
  16. An Adaptive Resonance Regulator for an Actuator using Periodic Signals in Camless Engine Systems
  17. Kafka’s bestiary of organizing
  18. Multi-stakeholder learning in transdisciplinary settings
  19. MindSphere OpenSpace Eröffnung
  20. Fostering student-teachersí analysis of their own teaching with an online-based video-feedback
  21. When Algorithms are your Boss: Staying Human in Platform-Mediated Work
  22. Mitglied des Review Panel „Mixed Methods’ in the Humanities? – Support for Projects Combining and Synergizing Qualitative-hermeneutical and Digital Approaches“
  23. Coauthoring an interorganizational collaboration: Exploring multi-voicedness and introducing spatiotemporal orientations
  24. Organized Creativity - Introduction to the 1st Annual Conference
  25. Potentiale entdecken - Qualität sichern!