Selective approach towards robust control and accommodation of disturbances
by Poi Voon Er; Rongmin Cao; Wenyu Liang; Rui Yang; Chek Sing Teo; Kok Kiong Tan
International Journal of Mechatronics and Automation (IJMA), Vol. 4, No. 3, 2014

Abstract: Precision control is desirable in high performance robotics and automation systems. However, when extraneous disturbances step in, persistence with a precision control methodology can result in an unacceptable level of performance when the nominal conditions under which the nominal control is designed no longer hold. At this time, a suitable adaptive and robust control scheme would be useful to cope with the evolving situation with disturbances though it may not yield the same level of nominal control performance. Resolving these conflicting requirements in an appropriate and calculated manner during the course of operation of a motion system becomes an important issue to address to accommodate the disturbances and yield the best level of performance possible. In this paper, we present a selective approach towards commissioning a good compromise between nominal and appropriate robust adaptive control. The approach leverages on a sensor fusion method based on radial basis functions (RBFs) to provide a control selector signal indicative of the level of disturbance present to fire the appropriate control. Simulation results based on the model of a real linear motion system setup are provided to show the effectiveness of the approach.

Online publication date: Thu, 04-Sep-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email