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Analog implementation of a robust control strategy for mechanical systems / Alvarez, Joaquin in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3377-3385 Titre : Analog implementation of a robust control strategy for mechanical systems Type de document : texte imprimé Auteurs : Alvarez, Joaquin, Auteur ; Rosas, David, Auteur ; Pena, Jonatan, Auteur Article en page(s) : pp. 3377-3385 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Système  mécanique  Commande  robuste Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4838891 [...] [article] Analog implementation of a robust control strategy for mechanical systems [texte imprimé] / Alvarez, Joaquin, Auteur ; Rosas, David, Auteur ; Pena, Jonatan, Auteur . - pp. 3377-3385. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3377-3385 Mots-clés : Système  mécanique  Commande  robuste Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4838891 [...]