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dc.contributor.authorYeh, SSen_US
dc.contributor.authorHsu, PLen_US
dc.date.accessioned2014-12-08T15:46:15Z-
dc.date.available2014-12-08T15:46:15Z-
dc.date.issued1999-09-01en_US
dc.identifier.issn0022-0434en_US
dc.identifier.urihttp://hdl.handle.net/11536/31119-
dc.description.abstractThe cross-coupled control (CCC) has been recognized as an efficient motion controller that reduces contouring errors, but theoretical analysis of it is lacking and there is no systematic design approach for obtaining a CCC system with guaranteed central performance. Consequently, the compensators C in CCC are commonly implemented in a PID structure and their contouring accuracy is usually degraded in real applications under different operating conditions. In an attempt to overcome the CCC design limitations described above, this paper introduces a robust CCC design based on a novel formulation: the contouring error transfer function (CETF) leading to an equivalent formulation as in the feedback control design problem. Then, methods in robust control design can be readily employed to achieve robust CCC,vith specified stability margins and guaranteed contouring performance. Furthermore, the proposed design has been verified as being internally stable. All provided experimental results indicate that the proposed robust CCC design consistently renders satisfactory contouring accuracy under different operating conditions.en_US
dc.language.isoen_USen_US
dc.titleTheory and applications of the robust cross-coupled control designen_US
dc.typeArticleen_US
dc.identifier.journalJOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASMEen_US
dc.citation.volume121en_US
dc.citation.issue3en_US
dc.citation.spage524en_US
dc.citation.epage530en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000082744600026-
dc.citation.woscount31-
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