Design of motion control systems with positive force/torque feedback using /spl mu/ synthesis

Positive force/torque feedback (PFF) can compensate for the detrimental effects of load dynamics and exogenous force/torque disturbances on the tracking performance of motion control systems. With real world non-ideal force/torque actuators, a force/torque feedback controller can be designed to acco...

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Bibliographic Details
Published inProceedings of the 2003 American Control Conference, 2003 Vol. 5; pp. 3955 - 3960 vol.5
Main Authors Haomin Lin, McInroy, J.E., Hamann, J.C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Actuators
Adaptive control
Control system synthesis
Control systems
Force control
Force feedback
Motion control
Robots
Torque control
Tracking
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Summary:Positive force/torque feedback (PFF) can compensate for the detrimental effects of load dynamics and exogenous force/torque disturbances on the tracking performance of motion control systems. With real world non-ideal force/torque actuators, a force/torque feedback controller can be designed to accommodate the actuator's dynamics or external force/torque disturbances upon the motion tracking loop. This paper shows that PFF is an effective method for many practical control problems. It is also shown that the analysis and design of motion control systems with PFF can be put into the /spl mu/ framework, and thus the tracking controller and the force/torque feedback controller can be synthesized simultaneously using commercially available /spl mu/ tools. Experimental results with a UW hexapod strut show that the /spl mu/ design method for PFF is promising.
ISBN:9780780378964
0780378962
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2003.1240454