Paper Info
Title
Improving Trajectory Tracking for Systems with Unobservable Modes Using Command Generation
Abstract
Trajectory tracking with flexible systems is ex- tremely difficult. This difficulty is increased when there are unobservable modes. Optimal PID control can be used for standard trajectory tracking, whereas sliding mode control can be used in systems with parametric uncertainties. Command shaping has been proven to be beneficial in eliminating un- wanted vibration. This paper shows that command generation can be utilized to eliminate unwanted vibration from a system with an unobservable mode. Both optimal PID and sliding mode control can be used in conjunction with command generation for enhanced system performance. I. INTRODUCTION As machines are pushed to their operational limit, they often start to vibrate. If these detrimental vibrations are unobservable to the feedback control system, then they can be extremely challenging to suppress. Examples of such machines include x-y stages, coordinate measuring machines, and gantry machines. Many times during the operation of these machines, there is an additional flexible body that is attached to the system, such as a tool attached to the end of a robotic arm. The base system's position and velocity are accurately known; however, there is no real- time state information available for the attached additional mode. For the purpose of this paper, the following types of
Year
DOI
Venue
2005
10.1109/ACC.2005.1469987
american control conference
Keywords
DocType
ISSN
vibration control,vibrations,trajectory,feedback control,error correction,actuators,optimal control,sliding mode control,control systems,system performance,pid control,mechanical engineering
Conference
0743-1619
Citations 
PageRank 
References 
1
0.36
4
Authors
3
Name
Order
Citations
PageRank
Erika Biediger110.36
Jason Lawrence211.04
William Singhose3166.46