Practical and Intuitive Controller Design for Precision Motion Systems

Up to date, many advanced control methods have been proposed and applied to precision motion mechanisms for performance evaluation. However, exact modeling of mechanisms, their accurate parameter identification, and sufficient knowledge of their controllers are needed in their design procedures. The necessity of the present research can lead to controller designers avoiding the use of the methods.


Fig.1. Basic concept of NCTF control

A nominal characteristic trajectory following (NCTF) control method has been investigated as the method overcoming the problem for point-to-point (PTP) positioning and tracking control. The NCTF controllers have a nominal characteristic trajectory (NCT) as the reference motion and a compensator for following the object motion to the NCT. It is noteworthy that the design procedure does not require exact equations of motion, model parameters, or even basic knowledge of control theory, making it possible for even engineers who do not specialize in control technologies to easily and intuitively design and adjust the controller. The NCTF controllers have been designed for ball screw mechanisms, noncontact linear motors, pneumatic air cylinder actuators and they provide high precision positioning and high precision tracking control performances. In addition, precision motion control of pneumatic artificial muscle actuator system has been studied .

Key papers

Shin-Horng Chong, Kaiji Sato: Practical and robust control for precision motion: AR-CM NCTF control of a linear motion mechanism with friction characteristics," IET Control Theory & Applications. (to be published)
Shaofei Wang, Kaiji Sato, Toshiharu Kagawa: Precise Positioning of Pneumatic Artificial Muscle Systems, Journal of Flow Control, Measurement & Visualization, Vol.2, No.4, (2014) pp.138-153.
Kaiji Sato, Yusuke Sano and Yuelai Wang : Practical Controller Design for Precision Positioning of Stages with a Pneumatic Actuator, Proc. of ASPE2013, (Minnesota, USA), (2013.10) pp.286-289.
Kaiji Sato: Practical and Intuitive Controller Design for Precision Motion - AR-CM NCTF Control of Ball Screw Mechanism, Int. J. of Automation Technology, Vol.5, No.6, (2011) pp.793-799.
Shin-Horng Chong, Hideto Hashimoto, Kaiji Sato: Practical motion control with acceleration reference for precision motion--New NCTF control and its application to non-contact mechanism, Precision Engineering, Vol.35, No.1,(2011) pp.12-23.
Shin-Horng Chong, Kaiji Sato: Practical controller design for precision positioning, independent of friction characteristic, Precision Engineering, Vol.34, No.2, (2010) pp.286-300.
Shin-Horng Chong and Kaiji Sato : Practical Controller for Precision Positioning Systems - A New Design Approach and Application to Mechanism with Friction, Proceedings of ASPE Spring Topical Meeting on Control of Precision Systems, (Massachusetts, USA), (2010.4) pp.123-128.
Kaiji Sato and Guilherme Jorge Maeda: Fast Precision Positioning of a Ball Screw Mechanism Based on Practical NCTF Control, Int. J. of Automation Technology, Vol.3, No.3, (2009) pp.233-240.
Kaiji Sato and Guilherme Jorge Maeda: A practical control method for precision motion - Improvement of NCTF control method for continuous motion control, Precision Engineering, Vol.33, No.2, (2009) pp.175-186.
Guilherme Jorge Maeda and Kaiji Sato: Practical Control Method for Ultra-Precision Positioning Using a Ballscrew Mechanism, Precision Engineering, Vol.32, No.4, (2008) pp.309-318.
Kaiji Sato and Guilherme Jorge Maeda: Practical Ultraprecision Positioning of a Ball Screw Mechanism, International Journal of Precision Engineering and Manufacturing, Vol.9, No.2, (2008) pp.44-49.
Wahyudi, K. Sato and A. Shimokohbe: Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning, Robotics and Autonomous Systems, Vol.52, Issues2-3 (2005) pp.247-256.
Kaiji SATO, Keisuke NAKAMOTO and Akira SHIMOKOHBE: Practical Control of Precision Positioning Mechanism with Friction, Precision Engineering, Vol.28, No.4, (2004) pp.426-434.
Wahyudi, Kaiji SATO and Akira SHIMOKOHBE: Characteristics of Practical Control for Point-to-point(PTP) Positioning Systems Effect of Design Parameters and Actuator Saturation on Positioning Performance, Precision Engineering, Vol.27, No.2, (2003) pp.157-169.