Conference Paper

Design of the primary-axis control systems for a two-metertelescope

Center for Manuf. Res., Tennessee Technol. Univ., Cookeville, TN;
DOI: 10.1109/SSST.1998.660080 Conference: System Theory, 1998. Proceedings of the Thirtieth Southeastern Symposium on
Source: IEEE Xplore

ABSTRACT In this paper, the performance of a control system for the azimuth axis of a two-meter telescope is investigated. The system, with a design based on the PID algorithm, achieves tracking accuracy requirements at low cost using two, low-resolution encoders, as shown via simulation. An encoder error model is developed and used in the simulation to study the effects of various encoder resolutions and accuracies

  • [Show abstract] [Hide abstract]
    ABSTRACT: This work proposes a simple robot control algorithm requiring position measurements only. The control scheme is shown to be suitable for point-to-point tasks of rigid-link robots with gravity compensation and for flexible joint robots with no gravitational effects. Lyapunov stability analyses show global asymptotic error convergence for both cases. In addition, the proposed controller does not require precise knowledge of the system model. Simulation results show the proposed controller works well for point-to-point control, and its advantages are illustrated by a comparison to the traditional PD control
    System Theory, 1998. Proceedings of the Thirtieth Southeastern Symposium on; 04/1998