This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation.
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e-mail: edgar.ergueta@wdc.com
e-mail: seifried@itm.uni-stuttgart.de
e-mail: horowitz@me.berkeley.edu
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March 2011
Research Papers
A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism
Edgar I. Ergueta,
Edgar I. Ergueta
Mem. ASME
Department of Mechanical Engineering,
e-mail: edgar.ergueta@wdc.com
University of California
, Berkeley, CA 94720
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Robert Seifried,
Robert Seifried
Professor
Institute of Engineering and Computational Mechanics,
e-mail: seifried@itm.uni-stuttgart.de
University of Stuttgart
, 70550 Stuttgart, Germany
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Roberto Horowitz
Roberto Horowitz
James Fife Endowed Chair
Department of Mechanical Engineering,
e-mail: horowitz@me.berkeley.edu
University of California
, Berkeley, CA 94720
Search for other works by this author on:
Edgar I. Ergueta
Mem. ASME
Department of Mechanical Engineering,
University of California
, Berkeley, CA 94720e-mail: edgar.ergueta@wdc.com
Robert Seifried
Professor
Institute of Engineering and Computational Mechanics,
University of Stuttgart
, 70550 Stuttgart, Germanye-mail: seifried@itm.uni-stuttgart.de
Roberto Horowitz
James Fife Endowed Chair
Department of Mechanical Engineering,
University of California
, Berkeley, CA 94720e-mail: horowitz@me.berkeley.edu
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 021007 (10 pages)
Published Online: February 22, 2011
Article history
Received:
March 19, 2009
Revised:
October 26, 2010
Online:
February 22, 2011
Published:
February 22, 2011
Citation
Ergueta, E. I., Seifried, R., and Horowitz, R. (February 22, 2011). "A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 021007. https://doi.org/10.1115/1.4003261
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