Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems

Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point...

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Main Authors:	Wahyudi, Martono, Sato, Kaiji, Shimokohbe, Akira
Format:	Article
Language:	English
Published:	Elsevier 2005
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/1/Robustness_Evaluation.pdf

id	iium-31451
recordtype	eprints
spelling	iium-314512017-06-21T02:28:00Z http://irep.iium.edu.my/31451/ Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems Wahyudi, Martono Sato, Kaiji Shimokohbe, Akira T Technology (General) TJ Mechanical engineering and machinery Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator. Elsevier 2005-08 Article PeerReviewed application/pdf en http://irep.iium.edu.my/31451/1/Robustness_Evaluation.pdf Wahyudi, Martono and Sato, Kaiji and Shimokohbe, Akira (2005) Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems. Robotics and Autonomous Systems, 52 (2-3). pp. 247-256. ISSN 0921-8890 http://dx.doi.org/10.1016/j.robot.2005.03.004 10.1016/j.robot.2005.03.004
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Wahyudi, Martono Sato, Kaiji Shimokohbe, Akira Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
description	Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator.
format	Article
author	Wahyudi, Martono Sato, Kaiji Shimokohbe, Akira
author_facet	Wahyudi, Martono Sato, Kaiji Shimokohbe, Akira
author_sort	Wahyudi, Martono
title	Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
title_short	Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
title_full	Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
title_fullStr	Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
title_full_unstemmed	Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems
title_sort	robustness evaluation of three friction compensation methods for point-to-point (ptp) positioning systems
publisher	Elsevier
publishDate	2005
url	http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/ http://irep.iium.edu.my/31451/1/Robustness_Evaluation.pdf
first_indexed	2023-09-18T20:45:38Z
last_indexed	2023-09-18T20:45:38Z
_version_	1777409656369446912

Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems

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