Adaptive internal model control for mid-ranging of closed-loop systems with internal saturation

Abstract

Abstract-This paper considers the problem of performing mid-ranging control of two closed-loop controlled systems that have internal saturations. The problem originates from previous work in machining with industrial robots, where an external compensation mechanism is used to compensate for position errors. Because of the limited workspace and the considerably higher bandwidth of the compensator, a midranging control approach is proposed. An adaptive, modelbased solution is presented, which is verified through simulations and experiments, where a close correspondence of the obtained results is achieved. Comparing the IAE of experiments using the proposed controller to previously established methods, a performance increase of up to 56 % is obtained.

Mid-ranging control of a macro/mini manipulator

“…Good performance has been reported by Sornmo et. al. in applying mid-ranging control to a macro/mini manipulator [6]. Here, however, the macro manipulator and the mini manipulator were not connected in series but each was attached directly to the ground and, as such, there was no reaction force acting between them.…”

“…This can also be seen from considering the system in steady state, when the input to the controller 2 c G is zero, but its output to the macro, 2 u , needs to be maintained at some constant value. In applications, the structure for both controllers, 1 c G and 2 c G , are commonly chosen as PI controllers [6].…”

Robust Antiwindup Compensation for High-Precision Tracking of a Piezoelectric Nanostage

“…1, for the same tracking problem. Moreover, an adaptive internal-model-based antiwindup structure proposed in [20] is also designed for comparison purpose.…”

“…We call the W-P antiwindup compensator for the seek of brevity. Along this line of research, many extensions have been derived such as the robust antiwindup compensator in [17]- [19] and the internal-model-based antiwindup compensator in [20] and [21]. Note that most of existing results on saturation control are discussed for general control systems without considering the specific challenges of tracking control structures and the corresponding performance requirements.…”

“…Nevertheless, the internal-model-based tracking theory cannot be effectively applied to nanomanipulating systems due to actuator saturations. It is worth pointing out that although the internal-model-based antiwindup control design has attracted significant research, see [20], [21], and the references therein, it is just a particular case of the W-P antiwindup compensator without tracking capability. In this paper, we propose a novel antiwindup tracking control scheme by combining the parallel internal-model structure [23] with a robust antiwindup compensator.…”