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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

  • Czech description

Classification

  • Type

    J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

  • 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

  • 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

  • EID of the result in the Scopus database

    2-s2.0-85048814368