Composite jerk feedforward and disturbance observer for robust tracking of flexible systems. (June 2017)

• Record Type: Journal Article
• Authors: Chen, Si-Lu; Li, Xiaocong; Teo, Chek Sing; Tan, Kok Kiong
• Is Part Of: Automatica. Volume 80(2017)
• Page Start: 253
• Page End: 260
• Publication Date: 2017-06
• Subjects: Disturbance rejection -- Feedforward control -- Modal control -- Resonant frequencies -- Lumped-parameter systems -- Cascade control -- Model approximation -- Robust control -- Sensitivity analysis -- Damping ratios; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2017.02.024
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: 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.