Acceleration Feedback in PID Controlled Elastic Drive Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F18%3A43952480" target="_blank" >RIV/49777513:23520/18:43952480 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.06.068" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2018.06.068</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.06.068" target="_blank" >10.1016/j.ifacol.2018.06.068</a>
Alternative languages
Result language
angličtina
Original language name
Acceleration Feedback in PID Controlled Elastic Drive Systems
Original language description
This paper deals with the use of a load acceleration feedback to overcome fundamental performance limitations of elastic servo drive systems that occur when employing a standard PI velocity controller. Structured H-infinity optimization approach is used to develop an optimal control strategy consisting of a PI controller and a static acceleration feedback. Qualitative and quantitative analysis of potential benefits for the case of a two-mass system is provided. Effects of higher resonance modes is studied as well. Experimental results demonstrate the application of the proposed methodology to a flexible arm manipulator.
Czech name
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Czech description
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Classification
Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IFAC-PapersOnLine
ISSN
2405-8963
e-ISSN
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Volume of the periodical
51
Issue of the periodical within the volume
4
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
6
Pages from-to
214-219
UT code for WoS article
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EID of the result in the Scopus database
2-s2.0-85048814368