Equivalent-Input-Disturbance-Based Precision Tracking Controlof Networked Motion Control System

カテゴリ: 部門大会

論文No: GS2-4

グループ名: 【C】平成30年電気学会電子・情報・システム部門大会プログラム

発行日: 2018/09/05

タイトル(英語): Equivalent-Input-Disturbance-Based Precision Tracking Controlof Networked Motion Control System

著者名: XIiang Wu(東京工科大学),Jinhua She(東京工科大学),Li Yu(浙江工業大学)

著者名(英語): XIiang Wu|Jinhua She|Li Yu

キーワード: networked motion control system|time-varying delays|equivalent-input-disturbance|disturbance rejection|precision tracking control

要約(日本語): This paper deals with the precision tracking control of a networked motion control system (NMCS) with network-induced delays and external disturbances. First, the uncertainties caused by network-induced delays are modeled as bounded disturbance. Then, the equivalent-input-disturbance (EID) approach is used to reject the total disturbances of the NMCS by construct an EID estimator, which produces an estimation of the disturbances on the control input channel. After the disturbances are compensated, the tracking performance of the NMCS is improved. Simulation results verify the feasibility and effectiveness of the method.

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