Improving the servo performance of mechatronic system by acceleration feedback

In this paper, we discuss the use of acceleration feedback control (AFC) to improve the tracking performance and robustness of controllers for mechatronic systems. It is shown that acceleration feedback loop can resist the effects of uncertainty such as the inertia changes and dynamic disturbances; furthermore, it can compensate the existing structural resonances. To mainly investigate the ability of the acceleration feedback in compensating nonlinear friction, comparative study only with position feedback but via sliding mode compensation are presented too. Superior performance against friction with AFC is confirmed by simulation. A recommended result is given at the end of this paper.