A robust approach to dynamic feedback linearization for a steerable nips mechanism / Ergueta, Edgar I. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 10 p. Titre : A robust approach to dynamic feedback linearization for a steerable nips mechanism Type de document : texte imprimé Auteurs : Ergueta, Edgar I., Auteur ; Seifried, Robert, Auteur ; Roberto Horowitz, Auteur Année de publication : 2011 Article en page(s) : 10 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Actuators Feedback Kinematics Linearisation techniques Position control Printing Robust Index. décimale : 629.8 Résumé : This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator's positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...] [article] A robust approach to dynamic feedback linearization for a steerable nips mechanism [texte imprimé] / Ergueta, Edgar I., Auteur ; Seifried, Robert, Auteur ; Roberto Horowitz, Auteur . - 2011 . - 10 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 10 p. Mots-clés : Actuators Feedback Kinematics Linearisation techniques Position control Printing Robust Index. décimale : 629.8 Résumé : This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator's positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...]

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