Adaptive repetitive output feedback control for friction and backlash compensation of a positioning table

Author

Huang, Weiqing ; Cai, Lilong ; Tang, Xiaoqi

Author_Institution

Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Hong Kong

Volume

2

fYear

1998

fDate

16-18 Dec 1998

Firstpage

1250

Abstract

An adaptive repetitive output feedback control (ARC) scheme for friction and backlash compensation is presented. The proposed controller consists of two parts: a PD controller and a feedforward compensator. An iterative learning algorithm based on Fourier series is developed to update the feedforward compensator. There is no requirement of system structure except the historical information of the input and output of the closed-loop system. A stability analysis of the closed-loop system is also provided. The effectiveness of the proposed controller is experimentally verified on a positioning table

Keywords

Fourier series; adaptive control; closed loop systems; compensation; feedback; feedforward; friction; position control; stability; two-term control; PD controller; adaptive repetitive output feedback control; backlash compensation; feedforward compensator; friction compensation; iterative learning algorithm; positioning table; stability analysis; Adaptive control; Equations; Error correction; Fourier series; Frequency; Friction; Output feedback; PD control; Programmable control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.758448

Filename

758448