Composite jerk feedforward and disturbance observer for robust tracking of flexible systems

In this paper, a novel feedforward controller for flexible motion systems is proposed based on both the rigid-body mode and lump-sum of the flexible modes. It only requires the reference trajectory to be defined up to its jerk, and gives well-behaved high-pass feedforward sensitivity. For systems wi...

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Bibliographic Details
Published in:Automatica (Oxford) 2017-06, Vol.80, p.253-260
Main Authors: Chen, Si-Lu, Li, Xiaocong, Teo, Chek Sing, Tan, Kok Kiong
Format: Article
Language:English
Subjects:
Cascade control
Damping ratios
Disturbance rejection
Feedforward control
Lumped-parameter systems
Modal control
Model approximation
Resonant frequencies
Robust control
Sensitivity analysis
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Summary:In this paper, a novel feedforward controller for flexible motion systems is proposed based on both the rigid-body mode and lump-sum of the flexible modes. It only requires the reference trajectory to be defined up to its jerk, and gives well-behaved high-pass feedforward sensitivity. For systems with severe low-frequency disturbance, an additional disturbance observer is introduced, using the same jerk feedforward as the inversion of the nominal model. Remarkably, with such proposed control scheme and novel loop-shaping criteria, the improvement of disturbance rejection and profile tracking does not result in obvious degrading of the noise attenuation.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2017.02.024