Integration of Kinematical Control and Dynamical Control with Application to X-Y Table

• Main Authors: Chun-Yi Li, 李俊義
• Other Authors: Chi-Kuang Hwang
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/93380802295269247259

碩士 === 中華大學 === 電機工程學系碩士班 === 92 === In the literature, the kinematical control and the dynamical control for a mechanism are rarely considered simultaneously. In this paper, the kinematical-and-dynamic control (KDC) scheme, which integrates the kinematical controller and the dynamical controller, is proposed. Under the KDC scheme, the kinematical controller acts like an observer, which measures the trajectory tracking error, and at the same time, a compensator, which transforms the trajectory tracking error into a dynamic control update command. The dynamical controller is designed so that the overall system performance satisfies a multiobjective criterion. Global stability of the integrated system is guaranteed by using the Lyapunov direct method.