Title :
Adaptive repetitive output feedback control for friction and backlash compensation of a positioning table
Author :
Huang, Weiqing ; Cai, Lilong ; Tang, Xiaoqi
Author_Institution :
Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Hong Kong
Abstract :
An adaptive repetitive output feedback control (ARC) scheme for friction and backlash compensation is presented. The proposed controller consists of two parts: a PD controller and a feedforward compensator. An iterative learning algorithm based on Fourier series is developed to update the feedforward compensator. There is no requirement of system structure except the historical information of the input and output of the closed-loop system. A stability analysis of the closed-loop system is also provided. The effectiveness of the proposed controller is experimentally verified on a positioning table
Keywords :
Fourier series; adaptive control; closed loop systems; compensation; feedback; feedforward; friction; position control; stability; two-term control; PD controller; adaptive repetitive output feedback control; backlash compensation; feedforward compensator; friction compensation; iterative learning algorithm; positioning table; stability analysis; Adaptive control; Equations; Error correction; Fourier series; Frequency; Friction; Output feedback; PD control; Programmable control; Uncertainty;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758448
