Design of Precision Motion Controllers Based on Frequency Constraints and Time-Domain Optimization

• Published in: IEEE/ASME transactions on mechatronics Vol. 28; no. 2; pp. 1 - 12
• Main Authors: Hsiao, Tesheng, Jhu, Jyun-Hua
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Constraints; Control systems design; Controllers; Design optimization; FIR filters; Frequency control; Frequency domain analysis; Loop shaping; Loop transfer functions; Lower bounds; minimum tracking error; Motion control; Optimization; precision motion control; quadratically constrained quadratic program (QCQP); Robustness (mathematics); Sensitivity; Time domain analysis; Time invariant systems; Time-frequency analysis; Tracking control; Transfer functions; Vibration control; Youla parameterization

As the requirement for precision motion is increasingly demanding in manufacturing and automation industry, it becomes more and more challenging to design motion controllers for higher tracking accuracy and better robustness with respect to uncertainties and disturbance. Since the performance and ro...