On the design of digital tracking controllers

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 115, Issue 2B, 1993, Pages 412-418

  Tomizuka, Masayoshi ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL SYSTEM SYNTHESIS; POSITION CONTROL; SERVOMECHANISMS; SPATIAL VARIABLES CONTROL; SYSTEMS ANALYSIS; TRACKING (POSITION);

CONTROL ALGORITHMS; DIGITAL TRACKING CONTROLLERS; ZERO PHASE ERROR TRACKING CONTROL (ZPETC);

DIGITAL CONTROL SYSTEMS;

EID: 0027608047     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2899081     Document Type: Article

References (37)

1. Anderson, B. D. O., and Moore, J. B., 1971, Linear Optimal Control, Prentice Hall, Englewood Cliffs, NJ.
2. Astrom, K., and Wittenmark, B., 1984, Computer Controlled Systems, Prentice Hall, Englewood, Cliffs, NJ.
3. Athans, M., and Falb, P., 1964, Optimal Control, McGraw Hill, New York.
4. Chew, K. K., and Tomizuka, M., 1990, “Digital Control of Repetitive Errors in Disk Drive Systems,” IEEE Control Magazine, Vol. 10, No. 1, Jan., pp. 1620.
5. Clark, D. W., Mohatadi, C., and Tuffs, P. S., 1987, “Generalized Predictive Control—Parts I and II,” Automatica, Vol. 23-2, pp. 137-160.
6. Egami, T., Tsuchiya, T., Aida, K., and Kitamori, T., 1992, “Preview Servo System Design and Relation with GPC System,” Transactions of the Society of Instrument and Control Engineers, Vol. 28, No. 8, pp. 956-963 (in Japanese).
7. Francis, B. A., and Wonham, W. M., 1975, “The Internal Model Principle for Linear Multivariable Regulators,” Applied Mathematics and Optimization, Vol. 2, pp. 170-194.
8. Funahashi, Y., and Yamada, M., 1992, “Generalization of Zero Phase Error Tracking Controller,” Transactions of the Society of Instrument and Control Engineers, Vol. 28, No. 1, Jan., pp. 59-66 (in Japanese).
9. Haack, B., and Tomizuka, M., 1991, “The Effect of Adding Zeros to Feedforward Controllers,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 113, Mar., pp. 6-10.
10. Hayase, M., and Ichikawa, K., 1969, “Optimal Servosystem Utilizing Future Values of Desired Function,” Trans, of the Society of Instrument and Control Engineers, Vol. 5, No. 1, Mar., pp. 89-94 (in Japanese).
11. Horowitz, R., Tsai, M. C., Anwar, G., and Tomizuka, M., 1987, “Model Reference Adaptive Control of a Two Axis Direct Drive Robot Manipulator Arm,” Proceedings of the 1987 IEEE International Conference on Robotics and Automation, pp. 1216-1222.
12. Huang, L.-J., and Tomizuka, M., 1990, “A Self-Paced Fuzzy Tracking Controller for Two-Dimensional Motion Control,” IEEE Trans, on Systems, Man and Cybernetics, Vol. 20, No. 5, Sept., pp. 1115-1124.
13. Inoue, T., Iwai, I and Nakano, M., 1981, “High Precision Control of Playback Servo Systems,” Transactions of Institute of Electrical Engineers, Japan, Series C, Vol. 101, No. 4, pp. 89-96 (in Japanese).
14. Kempf, C., Messner, W., Tomizuka, M., and Horowitz, R., 1992, “A Comparison of Four Discrete Time Repetitive Control Algorithms,” Proceedings of the 1992 American Control Conference, June, pp. 2700-2704.
15. Konno, Y., Hashimoto, H., and Tomizuka, M., 1992, “On Prediction and Preview in Control Systems,” Proceedings of the 21st SICE Symposium on Control Theory, SICE, May, pp. 187-190 (in Japanese).
16. Omata, T., Nakano, M., and Inoue, T., 1984, “Application of Repetitive Control Method to Multivariable Systems,” Transactions of the Society of Instrument and Control Engineers, Vol. 20, No. 9, pp. 795-800 (in Japanese).
17. Pak, H. A., and Tuner, P. J., 1986, “Optimal Tracking Controller Design for Invariant Dynamics Direct-Drive Arms,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 108, Mar., pp. 360-365.
18. Peng, H., and Tomizuka, M., 1991, “Preview Control for Vehicle Lateral Guidance in Highway Automation,” Proceedings of the 1991 American Control Conference, pp. 3090-3095.
19. Peng, H., et al., 1992, “A Theoretical and Experimental Study on Vehicle Lateral Control,” Proceedings of the 1992 American Control Conference, pp. 1738-1742.
20. Samson, C., 1982, “An Adaptive LQ Controller for Non-Minimum-Phase Systems,” International Journal of Control, Vol. 35, No. 1, pp. 1-28.
21. Sheridan, T. B., 1966, “Three Models of Preview Control,” IEEE Transactions on Human Factor in Electronics, Vol. HFE-7, No. 2, June, pp. 91-102.
22. Suzuki, A., and Tomizuka, M., 1991, “Design and Implementation of Digital Servo Controller for High Speed Machine Tools,” Proceedings of the 1991 American Control Conference, June, pp. 1246-1251.
23. Tomizuka, M., 1973, “The Optimal Finite Preview Problem and its Application to Man-Machine Systems,” Ph.D. dissertation, Mass. Inst, of Tech., Cambridge, MA, Sept.
24. Tomizuka, M., and Whitney, D. E., 1975, “The Discrete Optimal Finite Preview Control Problem (Why and How is Future Information Important?),” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 97, No. 4, Dec., pp. 319-325.
25. Tomizuka, M., and Rosenthal, D. E., 1979, “On the Optimal Digital State Vector Feedback Controller with Integral and Preview Actions,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 101, No. 2, June, pp. 172-178.
26. Tomizuka, M., Dornfeld, D., and Purcell, M., 1980, “Application of Microcomputers to Automated Weld Quality Control,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, No. 2, Mar., pp. 62-68.
27. Tomizuka, M., Dornfeld, D., Bian, X.-Q., and Cai, H.-C., 1984, “Experimental Evaluation of the Preview Servo Scheme for a Two-Axis Positioning System,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 106, No. 1, Mar., pp. 1-5.
28. Tomizuka, M., and Janczak, D., 1985, “Linear Quadratic Design of Decoupled Preview Controllers for Robotic Arms,” International Journal of Robotics Research, Vol. 4, No. 1, pp. 67-74.
29. Tomizuka, M., 1987, “Zero Phase Error Tracking Algorithm for Digital Control,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 109, Mar., pp. 65-68.
30. Tomizuka, M., Tsao, T.-C., and Chew, K.-K., 1989, “Discrete-Time Domain Analysis and Synthesis of Repetitive Controllers,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. Ill, Sept., pp. 353-358.
31. Tomizuka, M., 1992, “On Compensation of Phase Shift in Discrete-Time Linear Controller Design,” Proceedings of the Symposium on Fundamentals of Discrete-Time Systems, June.
32. Tsai, M.-C., Anwar, G., and Tomizuka, M., 1988, “Discrete Time Repetitive Control for Robot Manipulators,” Proceedings of the 1988 IEEE Int. Conference on Robotics and Automation, April, pp. 1341-1346.
33. Tsao, T.-C., and Tomizuka, M., 1987, “Adaptive Zero Phase Error Tracking Algorithm for Digital Control,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 109, Dec., pp. 349-354.
34. Tsao, T.-C., 1988, “Digital Tracking Control and Its Application to Noncircular Machining,” Ph.D. dissertation, Univ. of California at Berkeley, 1988.
35. Tsao, T.-C., and Tomizuka, M., 1988, “Adaptive and Repetitive Digital Control Algorithms for Noncircular Machining,” Proceedings of the 1988American Automatic Control Conference, June, pp. 115-120.
36. Tung, E., Anwar, G., and Tomizuka, M., 1991, “Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive Control,” Proceedings of the 1991 American Control Conference, June, pp. 2615-2620.
37. Tung, E., and Tomizuka, M., 1992, “Application of Frequency-Weighted Least Squares System identification to Feedforward Tracking Controller Design,” Proceedings of the 1992 Japan/USA Symposium on Flexible Automation, ASME, Vol. 1, pp. 503-510 (also to appear in ASME Journal of Dynamic Systems, Measurement, and Control).