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High-precision control of positioning systems with nonsmooth nonlinearities

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4 Author(s)
Jong-Hwan Kim ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Jeong-Yul Jeon ; Seon-Woo Lee ; Kwangill Koh

A high-precision control scheme for a precise point-to-point positioning system under the influence of nonsmooth nonlinearities is proposed. The proposed scheme consists of two controller modes: a tracking controller mode and a two-layered controller mode. The tracking controller is composed of a friction compensator, a linear feedback controller and a sliding control. The friction compensator is designed based on an identified friction model by using evolution strategies. The two-layered controller consists of a fuzzy precompensator and a PD controller. The fuzzy precompensator is employed to improve the performance of the PD controller. Its fuzzy rules are obtained from experimental evolutionary programming, not from an expert

Published in:

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on  (Volume:4 )

Date of Conference:

11-13 Dec 1996