제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Robust Time-Optimal Control for Coarse/Fine Dual-Stage Systems

  • Kwon, Sang-Joo (Department of Mechanical Engineering Pohang University of Science ＆ Technology(POSTECH)) ;
  • Chung, Wan-Kyun (Department of Mechanical Engineering Pohang University of Science ＆ Technology(POSTECH)) ;
  • Youngil Youm (Department of Mechanical Engineering Pohang University of Science ＆ Technology(POSTECH))
  • 발행 : 1999.10.01
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초록

A robust end time optimal conかof strategy for dual-stage servo system is presented. The time optimal trajectory for a mass-damper system is determined and given os a reference input to the servo system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors and robustly designed as the“perturbation compensated sliding mode control(PCSMC)”law, a combination of slid-ing mode controller(SMC) and perturbation observer(PO). In addition, a null motion controller which regulates the fine stage at its neutral position is designed based on the“dynamic consistency”So, the overall dual-stage servo system exhibits the robust and time-optimal performance. The inherent merit and performance of the dual-stage system will be shown.

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