Improvement of settling performance by mode switching control with split Initial Value Compensation based on Input Shaper
Improvement of settling performance by mode switching control with split Initial Value Compensation based on Input Shaper
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DOI：
10.1109/isie.2011.5984279
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发表时间：
2011-06
期刊：
影响因子：
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通讯作者：
Y. Maeda;M. Wada;M. Iwasaki;H. Hirai
中科院分区：
文献类型：
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作者：
Y. Maeda;M. Wada;M. Iwasaki;H. Hirai
本文提出了一种新的初始值补偿（IVC）技术的模式切换控制的框架中的快速和精确的定位。具有IVC的模式切换控制是提供对对象扰动的鲁棒性的有前途的方法之一。然而，IVC操作间隔的缩短导致输入幅度的增加，这导致由于控制输入的饱和而导致定位性能的恶化。因此，在本研究中，一个分裂的初始值补偿的基础上输入成形技术，以防止输入幅度饱和，并对未知的参数变化的自适应性和鲁棒性。实验结果验证了该方法的有效性。
This paper presents a novel Initial Value Compensation (IVC) technique in the framework of mode switching control for the fast and precise positioning. The mode switching control with IVC is one of the promising approaches to provide the robust property against plant perturbations. However, the shortening in IVC operation interval causes the increase in input amplitude, which leads to the deterioration of positioning performance due to the saturation in control input. In this research, therefore, a split initial value compensation based on input shaping techniques is applied to prevent the input amplitude from being saturated, and to be adaptive and robust against unknown parameter variations. The effectiveness of the proposed approach has been verified by experiments using a prototype of galvano scanner.