TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS

Stephen van Duin, Matthias Ahlswede, Christopher D. Cook

Abstract

This paper presents a modified impulse controller that is used to improve the velocity tracking of a servomechanism having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. This has previously been used to improve the position and velocity tracking of robot manipulators at very low velocities. Experiments show that at higher velocities the improved performance of the impulse part of the hybrid controller diminishes and can be counterproductive at these speeds when compared to conventional PID control alone. The modified hybrid impulse controller in this paper uses a mathematical function to transition the amount of torque from an impulse as a function of velocity to achieve more precise tracking across a range of velocities.

References

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Paper Citation


in Harvard Style

van Duin S., Ahlswede M. and Cook C. (2009). TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 213-221. DOI: 10.5220/0002207402130221


in Bibtex Style

@conference{icinco09,
author={Stephen van Duin and Matthias Ahlswede and Christopher D. Cook},
title={TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS },
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={213-221},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002207402130221},
isbn={978-989-8111-99-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS
SN - 978-989-8111-99-9
AU - van Duin S.
AU - Ahlswede M.
AU - Cook C.
PY - 2009
SP - 213
EP - 221
DO - 10.5220/0002207402130221