Practical and robust control for precision motion: AR‐CM NCTF control of a linear motion mechanism with friction characteristics

Abstract

This study presents the framework of the acceleration reference continuous motion nominal characteristic trajectory following (AR-CM NCTF) control system, and its effectiveness in a linear motion mechanism with friction characteristics is experimentally demonstrated in comparison with the other control methods. The overall control system comprises the feedback-loops for velocity reference and acceleration reference following controls. The AR-CM NCTF control is an enhanced continuous motion NCTF (CM NCTF) control that has been proposed for high-precision motion. It has the same structure as the CM NCTF controller with additional elements for high-precision motion. The design procedure of the AR-CM NCTF controller remains easy and is independent of friction characteristics. The usefulness and advantages of the proposed controller are shown in the experimental studies. Besides, this study also highlights the robustness of the AR-CM NCTF controller by examining its performances in point-to-point and tracking motions in the presence of mass and disturbance force variations. In the robust performance, the AR-CM NCTF controller is compared with two types of proportional derivative control systems with disturbance observers (PDDOs). The comparative experimental results illustrate that the AR-CM NCTF controller shows the higher motion performances the higher robustness to plant parameter variations than the PDDO controllers.

Saturation‐aware control design for micro–nano positioning systems

“…In our experimental results, we have implemented control laws (5) and (8) on the macro-nano actuator presented in [9]. The MA is effectively modelled as a double integrator as in (1) and the NA is modelled as a mass-spring-damper according to (2). While the system parameters identified from the experimental setup are given in Table 1, Fig.…”

“…Both for single-and dual-stage actuators, motion control has found countless applications and generated an equally formidable amount of breakthroughs for control theory and practise. Friction compensation [1], loop-shaping controllers [2] and saturation aware techniques [3] are some of the topics that remain of interest after many decades. While most of these methods were developed for single-input-single-output (SISO) systems, a considerable amount may be directly implemented to dual-stage (micro-nano) motion structures.…”

Practical Control Strategy for Positioning Control of Pneumatic Artificial Muscles Driven Stage: Improved NCTF Control

“…In the past three decades, the NCTF control has been improved to be useful in wider applications in industry, where they are the NCTF control, Continuous Motion NCTF control and Acceleration-Reference Continuous Motion NCTF control [34]. The performances of the NCTF control systems have been examined and clarified in various different types of mechanism, such as electric-motor driven typical mechanism with friction [35]- [39], non-contact mechanism [40]- [42], and pneumatic actuator [43]. In achieving high positioning control performance of a PAM system, the conventional NCTF controller suffers of less positioning accuracy and low following characteristic in tracking motion.…”

Positioning Control and Operational Evaluation of A One Mass Rotary System using NCTF Controller

“…On the other hands, further study was done to reduce the overshoot and errors obtain by improving the CM-NCTF Controller. The controller was improved to Acceleration Reference-Continuous Motion NCTF (AR-CM NCTF) Controller [14][15]. The proposed controller was examined by using mechanism with friction, which it has an ability to reduce error and overshoot of the system.…”