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

doi:10.1109/JAS.2020.1003135

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control
	Dailin Zhang; Zining Wang; Masayoshi Tomizuka
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:3 页码:693-701
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-parameter-model-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
DOI	10.1109/JAS.2020.1003135
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42980
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Dailin Zhang,Zining Wang,Masayoshi Tomizuka. A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):693-701.
APA	Dailin Zhang,Zining Wang,&Masayoshi Tomizuka.(2020).A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control.IEEE/CAA Journal of Automatica Sinica,7(3),693-701.
MLA	Dailin Zhang,et al."A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control".IEEE/CAA Journal of Automatica Sinica 7.3(2020):693-701.

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