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

• Autores: Si-Lu Chen, Xiaodong Li, Chek Sing Teo, K.K. Tan
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 80, 2017, págs. 253-260
• Idioma: inglés
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• Resumen

  • 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.