A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback

Akihiro Suzumura, Yasutaka Fujimoto, Toshiyuki Murakami, Roberto Oboe

研究成果: Article

3 引用 (Scopus)

抄録

This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.

元の言語English
記事番号7529064
ページ(範囲)7607-7620
ページ数14
ジャーナルIEEE Transactions on Industrial Electronics
63
発行部数12
DOI
出版物ステータスPublished - 2016 12 1

Fingerprint

Feedback
Controllers
Sensors
Accelerometers
Kalman filters
Systems analysis
Control systems
Computer simulation
Water
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

これを引用

A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback. / Suzumura, Akihiro; Fujimoto, Yasutaka; Murakami, Toshiyuki; Oboe, Roberto.

:: IEEE Transactions on Industrial Electronics, 巻 63, 番号 12, 7529064, 01.12.2016, p. 7607-7620.

研究成果: Article

Suzumura, Akihiro ; Fujimoto, Yasutaka ; Murakami, Toshiyuki ; Oboe, Roberto. / A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback. :: IEEE Transactions on Industrial Electronics. 2016 ; 巻 63, 番号 12. pp. 7607-7620.
@article{864cd13df5514778b1b8ed2d87750901,
title = "A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback",
abstract = "This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.",
keywords = "Motion control, multiple sensor feedback, N-degree-of-freedom (N-DoF) control, two-degree-of-freedom (two-DoF) control",
author = "Akihiro Suzumura and Yasutaka Fujimoto and Toshiyuki Murakami and Roberto Oboe",
year = "2016",
month = "12",
day = "1",
doi = "10.1109/TIE.2016.2597133",
language = "English",
volume = "63",
pages = "7607--7620",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "12",

}

TY - JOUR

T1 - A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback

AU - Suzumura, Akihiro

AU - Fujimoto, Yasutaka

AU - Murakami, Toshiyuki

AU - Oboe, Roberto

PY - 2016/12/1

Y1 - 2016/12/1

N2 - This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.

AB - This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.

KW - Motion control

KW - multiple sensor feedback

KW - N-degree-of-freedom (N-DoF) control

KW - two-degree-of-freedom (two-DoF) control

UR - http://www.scopus.com/inward/record.url?scp=84996920992&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84996920992&partnerID=8YFLogxK

U2 - 10.1109/TIE.2016.2597133

DO - 10.1109/TIE.2016.2597133

M3 - Article

AN - SCOPUS:84996920992

VL - 63

SP - 7607

EP - 7620

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 12

M1 - 7529064

ER -