A command shaping approach for suppressing scattered responses on servo systems with rolling friction

Yoshihiro Maeda, Makoto Iwasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel command shaping approach which aims at suppressing scattered responses due to rolling friction, for the fast and precise sequential positioning control with micrometer-stroke. The concept of the proposed command shaping is to prevent an overshoot response which leads to the scattered responses, considering the complicated and nonlinear rolling friction behavior. The command shaping filter design presented in this study is friction-model-free and is based on the constrained optimization framework. The effectiveness of the proposed approach is demonstrated through experiments for a laboratory table positioning system.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages244-249
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 30 Aug 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period9/07/1812/07/18

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Maeda, Y., & Iwasaki, M. (2018). A command shaping approach for suppressing scattered responses on servo systems with rolling friction. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 244-249). [8452360] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452360