Iterative feedback tuning of cascade control for position and velocity of two-mass system
- Title
- Iterative feedback tuning of cascade control for position and velocity of two-mass system
- Author(s)
- Jung, Hanul ; Jeon, Kiho ; Oh, Sehoon
- Issued Date
- 2020-07-12
- Citation
- 21st IFAC World Congress 2020, pp.8357 - 8362
- Type
- Conference Paper
- ISSN
- 2405-8963
- Abstract
- The inaccuracy of position and velocity controllers due to the vibration in the two-mass system in industrial robots cause devastating problems in both safety and productivity. To solve this problem, a method for tuning a cascade controller applied to two-mass systems based on Iterative Feedback Tuning (IFT) is proposed. The proposed new iterative feedback tuning method utilized a modified cost function to optimize the gains in a cascade control system and to address the complexity of the two-mass system due to higher-order dynamics. The performance of the proposed iterative feedback tuning method is verified through several simulations. Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
- Publisher
- Elsevier B.V.
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers
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