Analog implementation of a robust control strategy for mechanical systems

J. Alvarez, D. Rosas, J. Pena Ramirez

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

12 Citaties (Scopus)
113 Downloads (Pure)

Uittreksel

An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot.
Originele taal-2Engels
Pagina's (van-tot)3377-3385
Aantal pagina's9
TijdschriftIEEE Transactions on Industrial Electronics
Volume56
Nummer van het tijdschrift9
DOI's
StatusGepubliceerd - 2009

Vingerafdruk

Robust control
Networks (circuits)
Operational amplifiers
Pendulums
Closed loop systems
Data acquisition
Stabilization
Robots

Citeer dit

Alvarez, J. ; Rosas, D. ; Pena Ramirez, J. / Analog implementation of a robust control strategy for mechanical systems. In: IEEE Transactions on Industrial Electronics. 2009 ; Vol. 56, Nr. 9. blz. 3377-3385.
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Analog implementation of a robust control strategy for mechanical systems. / Alvarez, J.; Rosas, D.; Pena Ramirez, J.

In: IEEE Transactions on Industrial Electronics, Vol. 56, Nr. 9, 2009, blz. 3377-3385.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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