Adaptive tracking control for a motor-table system

In this paper, the motor-table system is realized to plan the minimum input energy trajectory (MIET) based on Hamiltonian by minimum input energy control (MIEC) approach. The adaptive tracking controller is proposed to track the MIET to overcome the nonlinear friction force and external disturbance. Moreover, trapezoidal trajectory (TT) and regulator control are compared with the MIET by the proposed adaptive tracking controller. Finally, the MIET based on the adaptive tracking controller can obtain the minimum energy control input and robustness performance for the motor-table system. The numerical simulation results are demonstrated the proposed strategy successfully.