Title :
Model-based feedforward for motion systems
Author :
Boerlage, M. ; Steinbuch, Maarten ; Lambrechts, P. ; van de Wal, Marc
Author_Institution :
Fac. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
Abstract :
This paper considers model-based feedforward for motion systems. The proposed feedforward controller consists of an acceleration feedforward part and an inverse dynamics model of flexible modes. Based on analysis and H∞ model-based feedforward design, the inverse dynamics can be restricted to a second order filter in the form of a skew notch even if the motion system has more parasitic modes. The benefit of this is an on-line tuning possibility. Tracking errors and settling times can be reduced significantly compared to acceleration feedforward.
Keywords :
H∞ control; feedforward; flexible manipulators; H∞ control; acceleration feedforward; feedforward controller; flexible modes; inverse dynamics model; model-based feedforward; motion systems; on-line tuning possibility; second order filter; settling times; skew notch; tracking errors; Acceleration; Adaptive control; Control systems; Feedback; Filters; Mechanical engineering; Motion control; Robust stability; Servomechanisms; Tracking;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223174
