This monograph investigates a practical way to achieve robust motion control and state estimation (Kalman filtering) of mechanical systems, which is a promising approach in terms of the perturbation compensator. The book presents novel approaches for design and analysis of perturbation observers as well as an extension to robust motion control and robust state estimation. The book is written in a self-contained manner including experimental results in each chapter clearly validating the developed theories.
Author(s): SangJoo Kwon, Wan Kyun Chung
Series: Lecture Notes in Control and Information Sciences
Edition: 1
Publisher: Springer
Year: 2004
Language: English
Pages: 146
01......Page 0
1.1 Motivation of the Book......Page 10
1.2 Issues in Mechanical Systems Control......Page 11
1.3 Robust Motion Control with Perturbation Observer......Page 14
1.4 Robust State Estimation with Perturbation Observer......Page 16
1.5 Coarse/Fine Dual-Stage System......Page 17
1.6 Outline of the Book......Page 19
2.1 Introduction......Page 20
2.2.1 Nominal Model......Page 22
2.2.2 Design of a Sliding Mode Controller......Page 23
2.3 A Class of Perturbation Observers......Page 24
2.4 Three Points of View on the Perturbation Compensation......Page 25
2.4.1 Feedback Perturbation Observer (FBPO)......Page 26
2.4.3 Sliding Mode Perturbation Observer (SMPO)......Page 27
2.5 Hierarchical Perturbation Compensator (HPC)......Page 28
2.6 Perturbation Compensated Sliding Mode Control......Page 31
2.6.2 Simulation......Page 34
2.7 Stability Analysis......Page 36
2.7.1 Boundedness of the Perturbation Compensation Error......Page 37
2.7.2 E.ects of the Hierarchical Perturbation Compensation......Page 40
2.8 Experiments......Page 42
2.9 Summary......Page 48
3.1 Introduction......Page 49
3.2.1 Notion of Perturbation Observers......Page 50
3.2.2 A Robust Motion Control Structure......Page 52
3.3.2 Multiloop Perturbation Compensator (MPEC)......Page 53
3.3.3 Performance Tuning of the MPEC......Page 55
3.4 Stability/Performance Analysis......Page 57
3.5 Application to Mechanical Systems......Page 63
3.5.1 Control of Linear XY Table......Page 65
3.5.2 Control of Robot Manipulator......Page 68
3.6 Summary......Page 72
4.1 Introduction......Page 74
4.2 Discrete Perturbation Observer......Page 76
4.2.1 Perturbation Model......Page 77
4.2.2 A Discrete Perturbation Observer......Page 78
4.2.3 Discrete Q -filter......Page 79
4.3 Perturbation Compensation Error Dynamics......Page 80
4.4 Robustness Analysis......Page 83
4.5 Sensitivity Analysis......Page 84
4.6 Composite Perturbation Observer......Page 89
4.7 Experimental Veri.cation......Page 90
4.8 Summary......Page 93
5.1 Introduction......Page 95
5.2.1 A Combined Observer Synthesis......Page 97
5.2.2 Stability......Page 99
5.2.3 Sensitivity Functions......Page 100
5.3.1 A Design Procedure......Page 101
5.3.2 Sensitivity Analysis......Page 102
5.3.3 Numerical Example......Page 105
5.3.4 Experiment......Page 108
5.4 Robust Kalman Filtering......Page 111
5.4.1 Numerical Example......Page 113
5.5 Summary......Page 116
6.1 Introduction......Page 118
6.2.1 Physical Characteristics......Page 120
6.2.2 A Dual-Stage Control Architecture......Page 121
6.2.3 Perturbation Compensator for Robust Tracking Control......Page 122
6.2.4 Null-Motion Controller......Page 124
6.3 Minimum-Time Control with Coarse/Fine Dual-Stage......Page 126
6.3.1 Time-Optimal Trajectory......Page 127
6.3.2 Experimental Example......Page 129
6.4 Application to Micro-Teleoperation......Page 131
6.5 Summary......Page 134
08......Page 136
A.1 Identi.cation of XY Table......Page 139
A.2 Experimental Setup for Micro-Teleoperation......Page 140
A.3.1 Matrix Inversion Lemma......Page 143
A.3.2 Pontrygin’s Minimum Principle......Page 144
10......Page 145
