Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0019-0578(00)00037-9
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dc.titleAdaptive robust motion control for precise trajectory tracking applications
dc.contributor.authorTan, K.K.
dc.contributor.authorHuang, S.N.
dc.contributor.authorDou, H.F.
dc.contributor.authorLee, T.H.
dc.contributor.authorChin, S.J.
dc.contributor.authorLim, S.Y.
dc.date.accessioned2014-06-17T02:37:16Z
dc.date.available2014-06-17T02:37:16Z
dc.date.issued2001
dc.identifier.citationTan, K.K., Huang, S.N., Dou, H.F., Lee, T.H., Chin, S.J., Lim, S.Y. (2001). Adaptive robust motion control for precise trajectory tracking applications. ISA Transactions 40 (1) : 57-71. ScholarBank@NUS Repository. https://doi.org/10.1016/S0019-0578(00)00037-9
dc.identifier.issn00190578
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/54939
dc.description.abstractThis paper presents a robust servo control method for high precision motion control using linear actuators. The controller consists of three components: a simple feedforward compensator, a PID feedback controller, and a RBF (radial-basis function) adaptive compensator, each to fulfill a specific objective. The first two control components can be directly tuned based on only an estimated dominant second-order linear model. The RBF compensator is self-tuning, and it will compensate for remaining uncertainties in the system, residual of the linear model. Rigid proofs are provided, guaranteeing the robust stability of the proposed controller. Experimental results confirm the much superior performance of the 3-tier composite control over a standard motion controller. © 2001 Elsevier Science Ltd.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/S0019-0578(00)00037-9
dc.sourceScopus
dc.subjectAdaptive control
dc.subjectLinear motors
dc.subjectRadial basis functions
dc.subjectRobust control
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1016/S0019-0578(00)00037-9
dc.description.sourcetitleISA Transactions
dc.description.volume40
dc.description.issue1
dc.description.page57-71
dc.description.codenISATA
dc.identifier.isiut000167848700006
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