Abstract
The inaccuracy of position and velocity controllers due to the vibration in the two-mass system in industrial robots cause devastating problems in both safety and productivity. To solve this problem, a method for tuning a cascade controller applied to two-mass systems based on Iterative Feedback Tuning (IFT) is proposed. The proposed new iterative feedback tuning method utilized a modified cost function to optimize the gains in a cascade control system and to address the complexity of the two-mass system due to higher-order dynamics. The performance of the proposed iterative feedback tuning method is verified through several simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 8357-8362 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 53 |
| Issue number | 2 |
| DOIs | |
| State | Published - 2020 |
| Event | 21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020 |
Bibliographical note
Publisher Copyright:Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
Keywords
- Cascade control
- Iterative feedback tuning
- Two-inertia system