Adaptive calibration of feedforward controllers for laser profiling machines

This paper addresses the problem of achieving higher motion-control bandwidths for contouring machine tools. In contrast to conventional feedforward compensators with fixed parameters, an adaptive calibrating controller is proposed. The controller embodies an inverse system structure, and is capable of learning the most appropriate set of controller parameters for a given repetitive task within a few calibration cycles. A comprehensive nonlinear simulation model, based on experimental measurements of a laser profiling machine, is used to demonstrate the superior contouring performance obtainable with the proposed controller