A Novel Second-order Feedforward Approach for Tracking Control of a Class of Motion Systems with Flexible Modes

被引:0
|
作者
Chen, Si-Lu [1 ,3 ]
Teo, Chek Sing [1 ,3 ]
Liu, Wenqi [1 ]
Tan, Kok Kiong [2 ,3 ]
机构
[1] Singapore Inst Mfg Technol, Mechatron Grp, Singapore 638075, Singapore
[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
[3] Natl Univ Singapore, SIMTech NUS Joint Lab Precis Mechatron, Singapore 117576, Singapore
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Jerk derivative feedforward control is proposed and used in recent literatures. However, such feedforward control scheme is restricted to the minimum-phase system which has constrained static gains in the flexible modes. This paper presents a novel form of feedforward controller for a wider class of flexible motion systems, even to be non-minimum phase, as long as the summation of DC gains of flexible modes is positive. The newly proposed feedforward scheme gives superior performance over existing feedforward schemes. Especially, the tracking error can be almost eliminated, when the plant's lowest frequency anti-resonance is outside the main frequency band of the reference trajectory. In other cases, this novel controller still gives adequate tracking performance, while other feedforward controllers are malfunctioned.
引用
收藏
页码:277 / 282
页数:6
相关论文
共 50 条
  • [41] Adaptive Tracking Control of Second-Order Multiagent Systems with Jointly Connected Topologies
    Chen, Lei
    Qin, Kaiyu
    Hu, Jiangping
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2016, 2016
  • [42] Distributed Optimal Tracking Control for Second-Order Multi-Agent Systems
    Sun Junyong
    Geng Zhiyong
    Liu Yongfang
    2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 1225 - 1230
  • [43] Complete parametric approach for eigenstructure assignment in a class of second-order linear systems
    Duan, GR
    Liu, GP
    AUTOMATICA, 2002, 38 (04) : 725 - 729
  • [44] Sliding mode control for consensus tracking of second-order nonlinear multi-agent systems driven by Brownian motion
    Birong Zhao
    Yunjian Peng
    Yanan Song
    Ruwen Qin
    Science China Information Sciences, 2018, 61
  • [45] Sliding mode control for consensus tracking of second-order nonlinear multi-agent systems driven by Brownian motion
    Birong ZHAO
    Yunjian PENG
    Yanan SONG
    Ruwen QIN
    Science China(Information Sciences), 2018, 61 (07) : 172 - 179
  • [46] Sliding mode control for consensus tracking of second-order nonlinear multi-agent systems driven by Brownian motion
    Zhao, Birong
    Peng, Yunjian
    Song, Yanan
    Qin, Ruwen
    SCIENCE CHINA-INFORMATION SCIENCES, 2018, 61 (07)
  • [47] Proxy Based Sliding Mode Control for a Class of Second-Order Nonlinear Systems
    Ding, Guangzheng
    Huang, Jian
    Cao, Yu
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II, 2017, 10463 : 879 - 888
  • [48] Sliding Mode Control for a Class of Second-order Nonlinear Systems with Unmatched Disturbances
    Zhang, Lu
    Yang, Jun
    Li, Shihua
    Li, Ting
    Man, Chaoyuan
    2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2017, : 34 - 39
  • [49] STABILITY AND FEEDBACK CONTROL OF A CLASS OF SECOND-ORDER LINEAR SYSTEMS IN BANACH SPACE
    HE Xiaoliang
    WANG Miansen Department of Mathematics. Xi’an Jiaotong University
    Systems Science and Mathematical Sciences, 1993, (02) : 161 - 174
  • [50] Local Sliding Mode Control Design for a Class of Second-order Systems with Friction
    Zheng, Kai
    Jiang, Yi
    Wang, Guofeng
    Wang, Xingcheng
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 3737 - 3741