High precision actuator control

Nicola Elia, Serge R. Lafontaine, Ian Hunter

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper we consider the controller design problem when the input signal is known in advance and the performance is measured as maximum absolute tracking error. We design a two-parameter controller that allows to achieve very precise nominal tracking while keeping the control input rate within desired limits. We apply the method to a first example and uncover the structure of the controller parameters. Finally, we apply the method to a realistic model of actuator for micro-surgery. The simulation results show that the design method can be used successfully to impose stringent time-domain specifications on the resulting closed loop system.

Original languageEnglish (US)
Pages (from-to)4720-4725
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
StatePublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

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