Passivity-based contour following control design with virtual plant disturbance Compensation

Chao Yun Chen, Ming-Yang Cheng, Jen Che Wu, Ke Han Su

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages48-53
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10-03-2110-03-24

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Chen, C. Y., Cheng, M-Y., Wu, J. C., & Su, K. H. (2010). Passivity-based contour following control design with virtual plant disturbance Compensation. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 48-53). [5464041] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464041