High precision actuator control

Nicola Elia; Serge R. Lafontaine; Ian Hunter

High precision actuator control

Nicola Elia
, Serge R. Lafontaine
, Ian Hunter

Research output: Contribution to journal › Conference article › peer-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 language	English (US)
Pages (from-to)	4720-4725
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	4
State	Published - Dec 1 1998
Externally published	Yes
Event	Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998

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title = "High precision actuator control",

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.",

author = "Nicola Elia and Lafontaine, \{Serge R.\} and Ian Hunter",

year = "1998",

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language = "English (US)",

volume = "4",

pages = "4720--4725",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) ; Conference date: 16-12-1998 Through 18-12-1998",

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TY - JOUR

T1 - High precision actuator control

AU - Elia, Nicola

AU - Lafontaine, Serge R.

AU - Hunter, Ian

PY - 1998/12/1

Y1 - 1998/12/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0032255602

UR - https://www.scopus.com/pages/publications/0032255602#tab=citedBy

M3 - Conference article

AN - SCOPUS:0032255602

SN - 0191-2216

VL - 4

SP - 4720

EP - 4725

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC)

Y2 - 16 December 1998 through 18 December 1998

ER -

High precision actuator control

Abstract

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