A Decoupled Digital Feedback Control Architecture for Input-Delay Robotic Servomechanisms: Design and Simulation
Abstract
This paper presents a decoupled feedback control architecture, for input-delay robotic servomechanisms. The decoupling principle relies on the fact that, any servomechanism is modeled by an input-delay dynamic model. However, the coupling effect from the motion of other servomechanisms, acts as an unknown and bounded disturbance to be rejected by a robust digital PIDF (proportional derivative, integral with filer) controller. As a beneficial implication, the proposed digital feedback control architecture, is designed and simulated according to methodologies and tools available in the literature of siso (single-input single-output) input-delay control servo-systems. Simulation results obtained from prototyping servomechanisms are presented and discussed. These results show the high precision and robustness, of the proposed decoupling digital feedback control architecture. In future research works, the software code of digital PIDF controllers, will be implemented and uploaded into a DSP (digital signal processing) target, e.g., FPGA chip, for digital control of real input-delay robotic servomechanisms.
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