TY - JOUR
T1 - Positional control of rotary servo cart system using generalized dynamic inversion
AU - Ansari, Uzair
AU - Mehedi, Ibrahim Mustafa
AU - Bajodah, Abdulrahman H.
AU - Saggaf, Ubaid M.Al
N1 - Publisher Copyright:
© 2018 Uzair Ansari, et al.
PY - 2018/9/1
Y1 - 2018/9/1
N2 - This paper presents the design approach of Generalized Dynamic Inversion (GDI) for angular position control of SRV02 rotary servo base system. In GDI, linear first order constraint differential equations are formulated based on the deviation function of angular position and its rate, and its inverse is calculated using Moore-Penrose Generalized Inverse to realize the control law. The singularity problem related to generalized inversion is solved by the inclusion of dynamic scaling factor that will guarantee the boundedness of the elements of the inverted matrix and stable tracking performance. Numerical simulations and real-time experiment are performed to evaluate the tracking performance and robustness capabilities of the proposed control law considering nominal and perturbed model dynamics. For comparative analysis, the results of GDI is compared with conventional PID control. Simulation and experimental results demonstrate better angular position tracking for the square-wave and sinusoidal waveforms, which reveals the superiority, and agility of GDI control over conventional PID.
AB - This paper presents the design approach of Generalized Dynamic Inversion (GDI) for angular position control of SRV02 rotary servo base system. In GDI, linear first order constraint differential equations are formulated based on the deviation function of angular position and its rate, and its inverse is calculated using Moore-Penrose Generalized Inverse to realize the control law. The singularity problem related to generalized inversion is solved by the inclusion of dynamic scaling factor that will guarantee the boundedness of the elements of the inverted matrix and stable tracking performance. Numerical simulations and real-time experiment are performed to evaluate the tracking performance and robustness capabilities of the proposed control law considering nominal and perturbed model dynamics. For comparative analysis, the results of GDI is compared with conventional PID control. Simulation and experimental results demonstrate better angular position tracking for the square-wave and sinusoidal waveforms, which reveals the superiority, and agility of GDI control over conventional PID.
KW - DC motor control
KW - Generalized dynamic inversion
KW - Singularity avoidance
KW - SRV02 rotary servo base system
UR - http://www.scopus.com/inward/record.url?scp=85054617190&partnerID=8YFLogxK
U2 - 10.21595/jve.2018.19403
DO - 10.21595/jve.2018.19403
M3 - Article
AN - SCOPUS:85054617190
SN - 1392-8716
VL - 20
SP - 2403
EP - 2413
JO - Journal of Vibroengineering
JF - Journal of Vibroengineering
IS - 6
ER -