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Abstract

The performance of two position control systems was studied. Proportional plus derivative (PD) feedback control was considered along with PD plus position times velocity feedback. An analytical model of the plant (a single link, very flexible manipulator) was identified, and computer simulations using the two controllers were performed. The results clearly showed a decrease in control effort for the system using non linear control when compared to a similar response for the system using PD control. Experimental results on a slewing beam system verified this result. The system using the proposed nonlinear feedback control re quired significantly less energy to complete the same maneuver as the system using the standard PD feedback control. Other measures of performance (e.g., rise time, settling time, overshoot) showed marginal improve ment when the nonlinear feedback was added to the controller. The principal issue here is the control effort required by the linear versus nonlinear controller to obtain the same, or similar, response to a command.

Keywords

Control nonlinear slewing energy

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References

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Comparison of Linear and Nonlinear Control of a Slewing Beam

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