Positional control of rotary servo cart system using generalized dynamic inversion

Uzair Ansari, Ibrahim Mustafa Mehedi*, Abdulrahman H. Bajodah, Ubaid M.Al Saggaf

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)2403-2413
Number of pages11
JournalJournal of Vibroengineering
Volume20
Issue number6
DOIs
Publication statusPublished - 1 Sept 2018
Externally publishedYes

Keywords

  • DC motor control
  • Generalized dynamic inversion
  • Singularity avoidance
  • SRV02 rotary servo base system

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