Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach
This paper presents a novel trajectory-tracking technique for servo systems treating only the position measurement as the output subject to practical concerns: system parameter and load uncertainties. There are two main contributions: (a) the use of observers without system parameter information for...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/10/12/324 |
| _version_ | 1797507061482782720 |
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| author | Sung Hyun You Seok-Kyoon Kim Hyun Duck Choi |
| author_facet | Sung Hyun You Seok-Kyoon Kim Hyun Duck Choi |
| author_sort | Sung Hyun You |
| collection | DOAJ |
| description | This paper presents a novel trajectory-tracking technique for servo systems treating only the position measurement as the output subject to practical concerns: system parameter and load uncertainties. There are two main contributions: (a) the use of observers without system parameter information for estimating the position reference derivative and speed and acceleration errors and (b) an order reduction exponential speed error stabilizer via active damping injection to enable the application of a feedback-gain-learning position-tracking action. A hardware configuration using a QUBE-servo2 and myRIO-1900 experimentally validates the closed-loop improvement under various scenarios. |
| first_indexed | 2024-03-10T04:42:20Z |
| format | Article |
| id | doaj.art-32def96142c5415c897dae8650c37f9a |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T04:42:20Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-32def96142c5415c897dae8650c37f9a2023-11-23T03:16:37ZengMDPI AGActuators2076-08252021-12-01101232410.3390/act10120324Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization ApproachSung Hyun You0Seok-Kyoon Kim1Hyun Duck Choi2Department of Electronic Engineering, Chosun University, Gwangju 61452, KoreaDepartment of Creative Convergence Engineering, Hanbat National University, Daejeon 34158, KoreaDepartment of ICT Convergence System Engineering, Chonnam National University, Gwangju 61186, KoreaThis paper presents a novel trajectory-tracking technique for servo systems treating only the position measurement as the output subject to practical concerns: system parameter and load uncertainties. There are two main contributions: (a) the use of observers without system parameter information for estimating the position reference derivative and speed and acceleration errors and (b) an order reduction exponential speed error stabilizer via active damping injection to enable the application of a feedback-gain-learning position-tracking action. A hardware configuration using a QUBE-servo2 and myRIO-1900 experimentally validates the closed-loop improvement under various scenarios.https://www.mdpi.com/2076-0825/10/12/324servo system positioninglearningobserverDOBsynchronization |
| spellingShingle | Sung Hyun You Seok-Kyoon Kim Hyun Duck Choi Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach Actuators servo system positioning learning observer DOB synchronization |
| title | Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach |
| title_full | Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach |
| title_fullStr | Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach |
| title_full_unstemmed | Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach |
| title_short | Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach |
| title_sort | output feedback position tracking servo system with feedback gain learning mechanism via order reduction speed error stabilization approach |
| topic | servo system positioning learning observer DOB synchronization |
| url | https://www.mdpi.com/2076-0825/10/12/324 |
| work_keys_str_mv | AT sunghyunyou outputfeedbackpositiontrackingservosystemwithfeedbackgainlearningmechanismviaorderreductionspeederrorstabilizationapproach AT seokkyoonkim outputfeedbackpositiontrackingservosystemwithfeedbackgainlearningmechanismviaorderreductionspeederrorstabilizationapproach AT hyunduckchoi outputfeedbackpositiontrackingservosystemwithfeedbackgainlearningmechanismviaorderreductionspeederrorstabilizationapproach |