A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control  

作　　者：Dailin Zhang Zining Wang Masayoshi Tomizuka 

机构地区：[1]School of Mechanical Science and Engineering,State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China [2]Department of Mechanical Engineering,University of California at Berkeley,Berkeley CA 94720 USA [3]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第3期693-701,共9页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(51775215,51535004)。

摘　　要：Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parametermodel-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.

关 键 词：DISTURBANCE OBSERVER FEEDFORWARD compensation iterative learning control PARAMETER identification system model 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]