Improvement of Settling Performance by Mode-Switching Control With Split Initial-Value Compensation Based on Input Shaper

This paper presents a novel initial-value-compensation (IVC) technique for mode-switching-control approaches in the fast and precise positioning of mechatronic systems. Parameter perturbations in plant mechanism and/or actuator generally deteriorate the positioning performance. In order to realize the desired positioning performance with robust property against the perturbations, the mode-switching control with the IVC is one of the promising approaches, where the timing of the mode switching and the time interval of the IVC critically affect the compensation performance. However, the shortening in the IVC operation interval causes an increase in the input amplitude, which leads to deterioration of the positioning performance due to saturation in control input. In this paper, therefore, a split IVC based on input-shaping techniques is applied to prevent the input amplitude from being saturated and to provide adaptiveness and robustness against unknown parameter perturbations. The effectiveness of the proposed approach has been verified by experiments using a prototype of galvanoscanners.