Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays
Fast tool servo systems with high precision and high speed pose significant challenges to servo control at the nano-scale. The saturation of the control actions, time delays and system uncertainties further complicate the control challenges. To address these problems, we propose a Smith predictor ba...
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| Veröffentlicht in: | IEEE access 2021, Vol.9, p.6633-6641 |
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| creator | Liu, Pengbo Song, Yuanyuan Yan, Peng Sun, Yujing |
| description | Fast tool servo systems with high precision and high speed pose significant challenges to servo control at the nano-scale. The saturation of the control actions, time delays and system uncertainties further complicate the control challenges. To address these problems, we propose a Smith predictor based robust anti-windup scheme in this article, such that high performance servo with nano-accuracy can be achieved in the case of saturations, time delays and model uncertainties. According to the input/output based equivalent representation, the saturation nonlinearity is transformed to the dead zone nonlinearity fulfilling a sector condition. Based on the Popov criterion, the stability conditions for the anti-windup compensator are derived, which are further formulated as an H_\infty optimization problem with robustness against model uncertainties. The effectiveness of the proposed control architecture is verified through real-time experiments, where excellent servo performance, saturation compensation and robustness are demonstrated, outperforming existing results. |
| doi_str_mv | 10.1109/ACCESS.2020.3048377 |
| format | Article |
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The saturation of the control actions, time delays and system uncertainties further complicate the control challenges. To address these problems, we propose a Smith predictor based robust anti-windup scheme in this article, such that high performance servo with nano-accuracy can be achieved in the case of saturations, time delays and model uncertainties. According to the input/output based equivalent representation, the saturation nonlinearity is transformed to the dead zone nonlinearity fulfilling a sector condition. Based on the Popov criterion, the stability conditions for the anti-windup compensator are derived, which are further formulated as an <inline-formula> <tex-math notation="LaTeX">H_\infty </tex-math></inline-formula> optimization problem with robustness against model uncertainties. The effectiveness of the proposed control architecture is verified through real-time experiments, where excellent servo performance, saturation compensation and robustness are demonstrated, outperforming existing results.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2020.3048377</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>actuator saturation ; Actuators ; anti-windup compensation ; Antiwindup compensators ; Capacitive sensors ; Control systems ; Delay effects ; fast tool servo ; Mathematical model ; Nanopositioning ; Nonlinearity ; Optimization ; Robustness ; Saturation compensators ; Servocontrol ; Servomotors ; Stability criteria ; time delay ; Uncertainty</subject><ispartof>IEEE access, 2021, Vol.9, p.6633-6641</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2021</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c408t-224172afa30ab10a2ccaa2d8691e4e072184269dd48f34f196d7f9f45ba8056f3</citedby><cites>FETCH-LOGICAL-c408t-224172afa30ab10a2ccaa2d8691e4e072184269dd48f34f196d7f9f45ba8056f3</cites><orcidid>0000-0002-8854-0217 ; 0000-0002-2025-5233 ; 0000-0002-7395-9453 ; 0000-0002-8354-7030</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9311694$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,776,780,860,2096,4010,27610,27900,27901,27902,54908</link.rule.ids></links><search><creatorcontrib>Liu, Pengbo</creatorcontrib><creatorcontrib>Song, Yuanyuan</creatorcontrib><creatorcontrib>Yan, Peng</creatorcontrib><creatorcontrib>Sun, Yujing</creatorcontrib><title>Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays</title><title>IEEE access</title><addtitle>Access</addtitle><description>Fast tool servo systems with high precision and high speed pose significant challenges to servo control at the nano-scale. The saturation of the control actions, time delays and system uncertainties further complicate the control challenges. To address these problems, we propose a Smith predictor based robust anti-windup scheme in this article, such that high performance servo with nano-accuracy can be achieved in the case of saturations, time delays and model uncertainties. According to the input/output based equivalent representation, the saturation nonlinearity is transformed to the dead zone nonlinearity fulfilling a sector condition. Based on the Popov criterion, the stability conditions for the anti-windup compensator are derived, which are further formulated as an <inline-formula> <tex-math notation="LaTeX">H_\infty </tex-math></inline-formula> optimization problem with robustness against model uncertainties. The effectiveness of the proposed control architecture is verified through real-time experiments, where excellent servo performance, saturation compensation and robustness are demonstrated, outperforming existing results.</description><subject>actuator saturation</subject><subject>Actuators</subject><subject>anti-windup compensation</subject><subject>Antiwindup compensators</subject><subject>Capacitive sensors</subject><subject>Control systems</subject><subject>Delay effects</subject><subject>fast tool servo</subject><subject>Mathematical model</subject><subject>Nanopositioning</subject><subject>Nonlinearity</subject><subject>Optimization</subject><subject>Robustness</subject><subject>Saturation compensators</subject><subject>Servocontrol</subject><subject>Servomotors</subject><subject>Stability criteria</subject><subject>time delay</subject><subject>Uncertainty</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUctOwzAQjBBIVNAv6CUS5xS_EtvHKrRQqYhDijha29iGVEldbBepf09Kqoq97HNmVztJMsFoijGSj7OynFfVlCCCphQxQTm_SkYEFzKjOS2u_8W3yTiELepN9KWcj5LXWR0PEJ1PK4gHD7Fxu7R03d7swpDYvreAENO1c21aGf_j0uoYoulC-tHEr3TddCZ9Mi0cw31yY6ENZnz2d8n7Yr4uX7LV2_OynK2ymiERM0IY5gQsUAQbjIDUNQDRopDYMIM4wYKRQmrNhKXMYllobqVl-QYEygtL75LlwKsdbNXeNx34o3LQqL-C858KfGzq1qhca6KJRKwgNdtoLC3Pa0PzQhgukEA918PAtffu-2BCVFt38Lv-fEUYF5hKSWU_RYep2rsQvLGXrRipkwxqkEGdZFBnGXrUZEA1xpgLQlLcf5_RXxmOgho</recordid><startdate>2021</startdate><enddate>2021</enddate><creator>Liu, Pengbo</creator><creator>Song, Yuanyuan</creator><creator>Yan, Peng</creator><creator>Sun, Yujing</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>ESBDL</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7SR</scope><scope>8BQ</scope><scope>8FD</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>DOA</scope><orcidid>https://orcid.org/0000-0002-8854-0217</orcidid><orcidid>https://orcid.org/0000-0002-2025-5233</orcidid><orcidid>https://orcid.org/0000-0002-7395-9453</orcidid><orcidid>https://orcid.org/0000-0002-8354-7030</orcidid></search><sort><creationdate>2021</creationdate><title>Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays</title><author>Liu, Pengbo ; Song, Yuanyuan ; Yan, Peng ; Sun, Yujing</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c408t-224172afa30ab10a2ccaa2d8691e4e072184269dd48f34f196d7f9f45ba8056f3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>actuator saturation</topic><topic>Actuators</topic><topic>anti-windup compensation</topic><topic>Antiwindup compensators</topic><topic>Capacitive sensors</topic><topic>Control systems</topic><topic>Delay effects</topic><topic>fast tool servo</topic><topic>Mathematical model</topic><topic>Nanopositioning</topic><topic>Nonlinearity</topic><topic>Optimization</topic><topic>Robustness</topic><topic>Saturation compensators</topic><topic>Servocontrol</topic><topic>Servomotors</topic><topic>Stability criteria</topic><topic>time delay</topic><topic>Uncertainty</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Liu, Pengbo</creatorcontrib><creatorcontrib>Song, Yuanyuan</creatorcontrib><creatorcontrib>Yan, Peng</creatorcontrib><creatorcontrib>Sun, Yujing</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE Open Access Journals</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>DOAJ Directory of Open Access Journals</collection><jtitle>IEEE access</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Liu, Pengbo</au><au>Song, Yuanyuan</au><au>Yan, Peng</au><au>Sun, Yujing</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2021</date><risdate>2021</risdate><volume>9</volume><spage>6633</spage><epage>6641</epage><pages>6633-6641</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>Fast tool servo systems with high precision and high speed pose significant challenges to servo control at the nano-scale. 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| subjects | actuator saturation Actuators anti-windup compensation Antiwindup compensators Capacitive sensors Control systems Delay effects fast tool servo Mathematical model Nanopositioning Nonlinearity Optimization Robustness Saturation compensators Servocontrol Servomotors Stability criteria time delay Uncertainty |
| title | Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays |
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