A variable-parameter-model-based feedforward compensation method for tracking control

被引：7
|
作者：
Zhang, Dailin [1 ]
Wang, Zining [2 ]
Tomizuka, Masayoshi [2 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China
[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
IEEE-CAA JOURNAL OF AUTOMATICA SINICA | 2020年 / 7卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Disturbance observer; feedforward compensation; iterative learning control; parameter identification; system model; ITERATIVE LEARNING CONTROL; SYSTEMS;
D O I：
10.1109/JAS.2020.1003135
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parameter-model-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.
引用
收藏
页码：693 / 701
页数：9
相关论文
共 50 条
  • [1] A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control
    Dailin Zhang
    Zining Wang
    Masayoshi Tomizuka
    IEEE/CAAJournalofAutomaticaSinica, 2020, 7 (03) : 693 - 701
  • [2] Variable-parameter-model-based iterative pre-compensation method of the tracking error
    Zhang, Dailin
    Chen, Huangchao
    Wang, Zining
    Zhao, Huan
    Ding, Han
    MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2021, 156
  • [3] An Guidance and Control Method with Feedforward Compensation for Target Tracking by Satellite
    Xu, Ziyao
    Xu, Peng
    Peng, Rui
    Lu, Qidong
    Li, Shengwen
    2020 CHINESE AUTOMATION CONGRESS (CAC 2020), 2020, : 6148 - 6152
  • [4] Quantitative Tracking Error Analysis and Feedforward Compensation Under Different Model-Based Feedforward Controllers in Different Control Architectures
    Dai, Luyao
    Li, Xin
    Zhu, Yu
    Zhang, Ming
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (01) : 381 - 390
  • [5] Load torque feedforward compensation method for control of variable load of dexterous hand
    Ding, Yan
    Zhang, Zhaohui
    Zhao, Xiaoyan
    Cao, Qi
    Yuan, Yuan
    2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2023, : 4324 - 4330
  • [6] Tracking control of piezoelectric actuators by feedforward hysteresis compensation
    Ru, Changhai
    Pang, Bohui
    Wang, Kejun
    Ye, Xiufen
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 2116 - +
  • [7] Variable-parameter feedforward control for centrifuge shaking table based on nonlinear frequency characteristic model
    Lu, Junting
    Xie, Haibo
    Hu, Liang
    Yang, Huayong
    Chen, Yunmin
    MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2021, 161 (161)
  • [8] Control method of HMT shifting clutch based on the disturbance feedforward compensation
    Cao F.
    Li H.
    Luo Z.
    Zhang M.
    Nongye Gongcheng Xuebao/Transactions of the Chinese Society of Agricultural Engineering, 2023, 39 (09): : 76 - 82
  • [9] Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation
    Jin, Rencheng
    Wang, Junwei
    Ou, Yangyi
    Li, Jianzhang
    SENSORS, 2024, 24 (08)
  • [10] Improved torque feedforward compensation method considering position tracking error compensation
    Chen, Lin
    Ling, Shan
    Chen, Tao
    Cai, Yukang
    Pan, Haihong
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2025,
12345