Disturbance Estimation and Modeling by Iterative Learning Process for Performance Improvement in Trajectory Control
This paper presents a modeling methodology for unknown disturbances based on a disturbance estimation using a iterative learning process in mechatronic systems. In this research, the nonlinear friction and the modeling errors between mathematical model and actual plant system should be handled as th...
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| creator | Ito, K. Takigawa, N. Yamamoto, M. Iwasaki, M. Matsui, N. |
| description | This paper presents a modeling methodology for unknown disturbances based on a disturbance estimation using a iterative learning process in mechatronic systems. In this research, the nonlinear friction and the modeling errors between mathematical model and actual plant system should be handled as the disturbances in mechanism because these phenomena mainly deteriorate the trajectory control performances. The friction can be mathematically modeled by using the learned estimation, as a function of displacement, velocity, acceleration, and jerk of the actuator. This model has a distinguished feature that the friction compensation can be achieved with a generalization capability for different conditions. The proposed positioning control approach with the disturbance modeling and compensation has been verified by experiments using a table drive system on machine stand. |
| doi_str_mv | 10.1109/IECON.2007.4460270 |
| format | Conference Proceeding |
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The proposed positioning control approach with the disturbance modeling and compensation has been verified by experiments using a table drive system on machine stand.</description><subject>Control systems</subject><subject>Delay estimation</subject><subject>Drives</subject><subject>Fasteners</subject><subject>Friction</subject><subject>Iterative methods</subject><subject>Mathematical model</subject><subject>Mechatronics</subject><subject>Position control</subject><subject>Springs</subject><issn>1553-572X</issn><isbn>1424407834</isbn><isbn>9781424407835</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkMFKAzEYhAMqWGtfQC95ga1JNtlkj7LWulBtDxW8lWT3j6R0k5LEQt_eVnsamA8-mEHogZIppaR-amfN8mPKCJFTzivCJLlCd5QzzolUJb9GIypEWQjJvm7RJKUtIYTWlVJCjlB6cSn_RKN9B3iWsht0dsFj7Xv8HnrYOf-NzRG3GeKJHAAvQEd_blcxdJAStiHiFcRTDH-WdtjHcIABfMbO43XUW-hyiEfcBJ9j2N2jG6t3CSaXHKPP19m6eSsWy3nbPC8KR6XIhTW9lSCkEkZZVnMpqgq40oYpQzgBYIwpgDOora1KIGUnrO6J0YLXqi7H6PHf6wBgs4-nbfG4uXxU_gIA2F2C</recordid><startdate>200711</startdate><enddate>200711</enddate><creator>Ito, K.</creator><creator>Takigawa, N.</creator><creator>Yamamoto, M.</creator><creator>Iwasaki, M.</creator><creator>Matsui, N.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200711</creationdate><title>Disturbance Estimation and Modeling by Iterative Learning Process for Performance Improvement in Trajectory Control</title><author>Ito, K. ; Takigawa, N. ; Yamamoto, M. ; Iwasaki, M. ; Matsui, N.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-fbdf7e5785b8f2947566e48ab28b040ee2228ee94759ff63e03c5fad0ba549893</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Control systems</topic><topic>Delay estimation</topic><topic>Drives</topic><topic>Fasteners</topic><topic>Friction</topic><topic>Iterative methods</topic><topic>Mathematical model</topic><topic>Mechatronics</topic><topic>Position control</topic><topic>Springs</topic><toplevel>online_resources</toplevel><creatorcontrib>Ito, K.</creatorcontrib><creatorcontrib>Takigawa, N.</creatorcontrib><creatorcontrib>Yamamoto, M.</creatorcontrib><creatorcontrib>Iwasaki, M.</creatorcontrib><creatorcontrib>Matsui, N.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ito, K.</au><au>Takigawa, N.</au><au>Yamamoto, M.</au><au>Iwasaki, M.</au><au>Matsui, N.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Disturbance Estimation and Modeling by Iterative Learning Process for Performance Improvement in Trajectory Control</atitle><btitle>IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society</btitle><stitle>IECON</stitle><date>2007-11</date><risdate>2007</risdate><spage>333</spage><epage>338</epage><pages>333-338</pages><issn>1553-572X</issn><isbn>1424407834</isbn><isbn>9781424407835</isbn><abstract>This paper presents a modeling methodology for unknown disturbances based on a disturbance estimation using a iterative learning process in mechatronic systems. In this research, the nonlinear friction and the modeling errors between mathematical model and actual plant system should be handled as the disturbances in mechanism because these phenomena mainly deteriorate the trajectory control performances. The friction can be mathematically modeled by using the learned estimation, as a function of displacement, velocity, acceleration, and jerk of the actuator. This model has a distinguished feature that the friction compensation can be achieved with a generalization capability for different conditions. The proposed positioning control approach with the disturbance modeling and compensation has been verified by experiments using a table drive system on machine stand.</abstract><pub>IEEE</pub><doi>10.1109/IECON.2007.4460270</doi><tpages>6</tpages></addata></record> |
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| ispartof | IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, p.333-338 |
| issn | 1553-572X |
| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems Delay estimation Drives Fasteners Friction Iterative methods Mathematical model Mechatronics Position control Springs |
| title | Disturbance Estimation and Modeling by Iterative Learning Process for Performance Improvement in Trajectory Control |
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