Data-based design of high-performance motion controllers

D. Kostic; A.G. Jager, de; M. Steinbuch

Data-based design of high-performance motion controllers

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

This paper presents a data-based design of a linear feedback controller which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem confirm the effectiveness of the design.

Original language	English
Title of host publication	Proceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	722-727
ISBN (Print)	0-7803-8335-4
Publication status	Published - 2004

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title = "Data-based design of high-performance motion controllers",

abstract = "This paper presents a data-based design of a linear feedback controller which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem confirm the effectiveness of the design.",

author = "D. Kostic and {Jager, de}, A.G. and M. Steinbuch",

year = "2004",

language = "English",

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pages = "722--727",

booktitle = "Proceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

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Data-based design of high-performance motion controllers. / Kostic, D.; Jager, de, A.G.; Steinbuch, M.
Proceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA. Piscataway: Institute of Electrical and Electronics Engineers, 2004. p. 722-727.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Data-based design of high-performance motion controllers

AU - Kostic, D.

AU - Jager, de, A.G.

AU - Steinbuch, M.

PY - 2004

Y1 - 2004

N2 - This paper presents a data-based design of a linear feedback controller which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem confirm the effectiveness of the design.

AB - This paper presents a data-based design of a linear feedback controller which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem confirm the effectiveness of the design.

M3 - Conference contribution

SN - 0-7803-8335-4

SP - 722

EP - 727

BT - Proceedings of the 2004 American Control Conference (ACC 2004), June 30 - July 2, 2004, Boston, USA

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

Data-based design of high-performance motion controllers

Abstract

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