Adaptive Feedforward Control for Reset Feedback Control Systems - Application in Precision Motion Control

Conference paper (2021)

Authors

N. Saikumar Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
J.W. van Wingerden Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
S. Hassan HosseinNia Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Mechatronics Reset control Nonlinear control Motion control Adpative feedforward
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the non-linear feedback element rejects disturbances. To overcome inevitable model mismatches, the feedforward controller adapts to increase precision in reference tracking. Where linear existing adaptive feedforward controllers do not guarantee convergence in the presence of reset, this work presents a novel adaptive law based on converging and diverging regions of adaptation to achieve good tracking. Experimental results demonstrate the claimed advantage of the novel method.