DocumentCode :
601148
Title :
Improvement of trajectory tracking performance using pseudo feedforward control
Author :
Ito, Kei ; Iwasaki, Makoto ; Hirai, Hirokazu
Author_Institution :
Dept. of Electr. & Electron. Eng., Toyota Nat. Coll. of Technol., Toyota, Japan
fYear :
2013
fDate :
Feb. 27 2013-March 1 2013
Firstpage :
768
Lastpage :
773
Abstract :
This paper presents a novel design framework of feedback controllers in the trajectory tracking control system. In order to improve tracking performance, model-based pseudo feedforward controllers are introduced as a part of feedback system, where the target trajectory is estimated using the target trajectory observer and the estimated trajectory applies as reference for pseudo feedforward controllers. The pseudo feedforward controllers are designed based on a coprime factorization description for a mathematical model of control system. Thus trajectory tracking performance is drastically improved. The effectiveness of the proposed control system has been verified by the experiments using a prototype of tracking control systems.
Keywords :
control system synthesis; feedback; feedforward; observers; trajectory control; coprime factorization; design framework; feedback controller; feedback system; model-based pseudo feedforward controller; target trajectory observer; trajectory tracking control system; trajectory tracking performance improvement; Feedforward neural networks; Friction; Observers; Target tracking; Trajectory; Vibrations;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location :
Vicenza
Print_ISBN :
978-1-4673-1386-5
Electronic_ISBN :
978-1-4673-1387-2
Type :
conf
DOI :
10.1109/ICMECH.2013.6519138
Filename :
6519138
Link To Document :
بازگشت