Design of parameterized feedforward controller based on data-driven under actuator constraints

Aiming at the trajectory tracking problem of non-repetitive point-to-point motion under actuator constraints, a data-driven parameterized input shaping filter and feedforward controller optimization design algorithm under the constraints of actuators is proposed. Firstly, the input shaping filter and the feedforward controller are parameterized, then the constraints of the control signal variation and the control signal energy are added to the objective function, and the data-driven iterative optimization algorithm is used to obtain the optimal parameters. Under the parameters, the optimal trajectory tracking performance of the motion control system under the constraints of the actuator can be achieved. And because of the feedforward parameterized design method, the proposed algorithm can still maintain good trajectory tracking performance when the point-to-point trajectory changes. Simulation and experimental results show that the proposed algorithm can achieve the optimal point-to-point trajectory tracking performance under the constraints of the actuator, and it has certain robustness to non-repetitive point-to-point trajectory tracking. © 2022 South China University of Technology. All rights reserved.