By Topic

Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Long Cheng ; State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China ; Yingzi Lin ; Zeng-Guang Hou ; Min Tan
more authors

An integrated design approach, namely, design for control (DFC), is further studied in this paper. Previous work on the DFC approach usually takes the proportional-derivative (PD) control algorithm. It is revealed in a closed-chain five-bar machine case that the PD-based DFC approach can only obtain a desired performance in set-point control task rather than tracking control task. In order to improve the robustness of this mechatronic system in terms of change of tasks, this paper suggests to use a “PD plus robust term” control algorithm in the DFC approach. Theoretical analysis shows that a satisfactory performance can be achieved by the proposed DFC. And it is also shown that the gain in the robust term plays an important role in bridging design of control algorithm and design of machine body. The general design principle of machine body is to design parameters of machine body to minimize the lower bound of this robust gain. Finally, the effectiveness of the proposed approach is validated by simulations.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:17 ,  Issue: 3 )