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Robust Minimum-Time Control with Coarse/Fine Dual-Stage Mechanism  

Kwon, Sang-Joo (School of Aerospace and Mechanical Engineering, Hankuk Aviation University)
Cheong, Joo-No (Department of Control and Instrumentation Engineering, Korea University)
Publication Information
Journal of Mechanical Science and Technology / v.20, no.11, 2006 , pp. 1834-1847 More about this Journal
Abstract
A robust minimum-time control (RMTC) strategy is addressed and it is extended to the dual-stage servo design. Rather than conventional switching type sub-optimal controls, it is a reference following control approach where the predetermined minimum-time trajectory (MTT) is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived. Then, the perturbation compensator to achieve robust tracking performance in spite of model uncertainty and external disturbance is suggested. The RMTC is also applied to the dual-stage positioner which consists of coarse actuator and fine one. To best utilize the actuation redundancy of the dual-stage mechanism, a null-motion controller to actively regulate the relative motion between the two stages is formulated. The performance of RMTC is validated through simulation and experiment.
Keywords
Minimum-Time Control; Perturbation Compensator; Positioning System; Dual-Stage Mechanism; Null-Motion Control;
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