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Titre :
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Combined H (infinity) -feedback control and iterative learning control design with application to nanopositioning systems (2011)
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Auteurs :
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Brian E. Helfrich, Auteur ;
Chibum Lee, Auteur ;
Douglas A. Bristow, Auteur
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Type de document :
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Article : texte imprimé
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Dans :
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IEEE Transactions on control systems technology (Vol. 18 N° 2, Mars 2010)
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Article en page(s) :
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pp. 336-351
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Note générale :
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Génie Aérospatial
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Langues :
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Anglais
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Index. décimale :
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629.1
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Tags :
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Iterative learning control (ILC) Nanopositioning Precision motion (PMC)
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Résumé :
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This paper examines a coordinated feedback and feedforward control design strategy for precision motion control (PMC) systems. It is assumed that the primary exogenous signals are repeated; including disturbances and references. Therefore, an iterative learning control (ILC) feedforward strategy can be used. The introduction of additional non-repeating exogenous signals, including disturbances, noise, and reset errors, necessitates the proper coordination between feedback and feedforward controllers to achieve high performance. A novel ratio of repeated versus non-repeated signal power in the frequency domain is introduced and defined as the repetitive-to-non-repetitive (RNR) ratio. This frequency specific ratio allows for a new approach to delegating feedback and feedforward control efforts based on RNR value. A systematic procedure for control design is given whereby the feedback addresses the non-repeating exogenous signal content (RNR ≪ 0 dB) and the feedforward ILC addresses the repeating signal content (RNR ≫ 0 dB). To illustrate the design approach, two case studies using different nano-positioning devices are given.
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DEWEY :
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629.1
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ISSN :
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1063-6536
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En ligne :
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http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5169845
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