Robust Nonlinear Control of Laser Scanning System under Stochastic Mechanical Disturbances
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IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society. IEEE - Institute of Electrical and Electronics Engineers Inc., 2025. (IECON Proceedings (Industrial Electronics Conference)).
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Robust Nonlinear Control of Laser Scanning System under Stochastic Mechanical Disturbances
AU - Núñez-López, Jose A.
AU - Sergiyenko, Oleg
AU - Alaniz-Plata, Ruben
AU - Molina-Quiroz, Dennis
AU - Sepulveda-Valdez, Cesar
AU - Lopez-Medina, Fernando
AU - Meza-Garcia, David
AU - Tyrsa, Vera
AU - Flores-Fuentes, Wendy
AU - Rodríguez-Quiñonez, Julio C.
AU - Villa-Manriquez, J. Fabián
AU - Murrieta-Rico, Fabian N.
AU - Kolendovska, Marina
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper presents a robust nonlinear control strategy for a laser scanner's actuator operating under stochastic mechanical disturbances. External perturbations are represented as bounded stochastic torque inputs, capturing the aggregate effect of structural imbalance, impacts, or system degradation. Experimental observations of vibration-induced angular fluctuations motivate this modeling choice, highlighting the need for control strategies tolerant to bounded stochastic disturbances resulting from unpredictable mechanical faults. A smooth hyperbolic-based control law is proposed to achieve robust velocity tracking under these uncertain conditions. Global asymptotic stability is formally established through Lyapunov analysis, and simulation results confirm that the proposed method effectively maintains convergence and bounded control effort in the presence of estimated disturbance torque. The formulation is suitable for fault-tolerant control of precision actuators where physical irregularities are difficult to isolate or diagnose in real time.
AB - This paper presents a robust nonlinear control strategy for a laser scanner's actuator operating under stochastic mechanical disturbances. External perturbations are represented as bounded stochastic torque inputs, capturing the aggregate effect of structural imbalance, impacts, or system degradation. Experimental observations of vibration-induced angular fluctuations motivate this modeling choice, highlighting the need for control strategies tolerant to bounded stochastic disturbances resulting from unpredictable mechanical faults. A smooth hyperbolic-based control law is proposed to achieve robust velocity tracking under these uncertain conditions. Global asymptotic stability is formally established through Lyapunov analysis, and simulation results confirm that the proposed method effectively maintains convergence and bounded control effort in the presence of estimated disturbance torque. The formulation is suitable for fault-tolerant control of precision actuators where physical irregularities are difficult to isolate or diagnose in real time.
KW - Complex System
KW - Nonlinear Dynamics
KW - Stochastic Modeling
KW - Vibrations
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=105024699145&partnerID=8YFLogxK
U2 - 10.1109/IECON58223.2025.11221377
DO - 10.1109/IECON58223.2025.11221377
M3 - Article in conference proceedings
AN - SCOPUS:105024699145
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025
Y2 - 14 October 2025 through 17 October 2025
ER -