Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism
In this paper is introduced a methodology for solving the regulation and tracking control problem in servomechanisms through a Proportional Retarded controller with a Feedforward and Feedback (PR+FF) compensation scheme. The key advantage of this approach is that it enables regulation and tracking c...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10896793/ |
| _version_ | 1826580945374806016 |
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| author | Manuel Alejandro Ojeda-Misses Hilario Martines-Arano Anilu Franco-Arcega Virgilio Lopez-Morales Aldo Marquez-Grajales |
| author_facet | Manuel Alejandro Ojeda-Misses Hilario Martines-Arano Anilu Franco-Arcega Virgilio Lopez-Morales Aldo Marquez-Grajales |
| author_sort | Manuel Alejandro Ojeda-Misses |
| collection | DOAJ |
| description | In this paper is introduced a methodology for solving the regulation and tracking control problem in servomechanisms through a Proportional Retarded controller with a Feedforward and Feedback (PR+FF) compensation scheme. The key advantage of this approach is that it enables regulation and tracking control without requiring velocity measurements, which are typically needed in most control schemes, such as Proportional Derivative controllers. The design of the PR+FF control is grounded in <inline-formula> <tex-math notation="LaTeX">$\sigma $ </tex-math></inline-formula>-stability analysis and the D-partitions method. Its performance is evaluated on an experimental platform consisting of a servomechanism. The proposed controller is also compared with a Proportional Derivative, Proportional Integral and Proportional Integral Derivative schemes using filters compensation. The results are analyzed from a frequency perspective, using Bode plots, and by examining error and control signals in real-time. |
| first_indexed | 2025-03-14T14:42:14Z |
| format | Article |
| id | doaj.art-25fb217c45854668af0ce30492de50f5 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2025-03-14T14:42:14Z |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-25fb217c45854668af0ce30492de50f52025-02-26T00:01:13ZengIEEEIEEE Access2169-35362025-01-0113343783438910.1109/ACCESS.2025.353395510896793Feedforward and Feedback-Based Retarded Proportional Controller of a ServomechanismManuel Alejandro Ojeda-Misses0https://orcid.org/0000-0003-3963-5399Hilario Martines-Arano1https://orcid.org/0000-0001-6129-7352Anilu Franco-Arcega2https://orcid.org/0000-0002-9415-8313Virgilio Lopez-Morales3https://orcid.org/0000-0003-2043-8766Aldo Marquez-Grajales4https://orcid.org/0000-0001-9567-2069Área Académica de Computación y Electrónica, Universidad Autónoma del Estado de Hidalgo, Pachuca, Hidalgo, MexicoEscuela Superior Tepeji del Río, Ingeniería Industrial, Universidad Autónoma del Estado de Hidalgo, Tepeji del Río de Ocampo, Hidalgo, MexicoÁrea Académica de Computación y Electrónica, Universidad Autónoma del Estado de Hidalgo, Pachuca, Hidalgo, MexicoÁrea Académica de Computación y Electrónica, Universidad Autónoma del Estado de Hidalgo, Pachuca, Hidalgo, MexicoÁrea Académica de Computación y Electrónica, Universidad Autónoma del Estado de Hidalgo, Pachuca, Hidalgo, MexicoIn this paper is introduced a methodology for solving the regulation and tracking control problem in servomechanisms through a Proportional Retarded controller with a Feedforward and Feedback (PR+FF) compensation scheme. The key advantage of this approach is that it enables regulation and tracking control without requiring velocity measurements, which are typically needed in most control schemes, such as Proportional Derivative controllers. The design of the PR+FF control is grounded in <inline-formula> <tex-math notation="LaTeX">$\sigma $ </tex-math></inline-formula>-stability analysis and the D-partitions method. Its performance is evaluated on an experimental platform consisting of a servomechanism. The proposed controller is also compared with a Proportional Derivative, Proportional Integral and Proportional Integral Derivative schemes using filters compensation. The results are analyzed from a frequency perspective, using Bode plots, and by examining error and control signals in real-time.https://ieeexplore.ieee.org/document/10896793/Feedbackfeedforwardtime-delay controllerservomechanismtrajectory tracking |
| spellingShingle | Manuel Alejandro Ojeda-Misses Hilario Martines-Arano Anilu Franco-Arcega Virgilio Lopez-Morales Aldo Marquez-Grajales Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism IEEE Access Feedback feedforward time-delay controller servomechanism trajectory tracking |
| title | Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism |
| title_full | Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism |
| title_fullStr | Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism |
| title_full_unstemmed | Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism |
| title_short | Feedforward and Feedback-Based Retarded Proportional Controller of a Servomechanism |
| title_sort | feedforward and feedback based retarded proportional controller of a servomechanism |
| topic | Feedback feedforward time-delay controller servomechanism trajectory tracking |
| url | https://ieeexplore.ieee.org/document/10896793/ |
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