TY - JOUR
T1 - Optimal LQ feedforward tracking with preview
T2 - Practical design for rigid body motion control
AU - Cole, M.O.T.
AU - Wongratanaphisan, T.
PY - 2014/5/1
Y1 - 2014/5/1
N2 - For reference-tracking motion control, preview-based linear quadratic (LQ) design methods provide an effective means to balance tracking performance with available actuation capacity. This paper considers a control structure for which the optimal feedforward controller is independent of the feedback controller. In this way, explicit implementation formulas for feedforward controllers are derived that can be applied to a range of rigid-body motion systems. Key aspects of the optimal LQ solutions are identified, particularly how the choice of design weightings affect steady-state error for polynomial tracking. A redesign procedure for finite preview-time is proposed that preserves exact polynomial tracking properties and control bandwidth of the optimal solutions. Comparative experimental results are presented for a motor-driven linear motion stage.
AB - For reference-tracking motion control, preview-based linear quadratic (LQ) design methods provide an effective means to balance tracking performance with available actuation capacity. This paper considers a control structure for which the optimal feedforward controller is independent of the feedback controller. In this way, explicit implementation formulas for feedforward controllers are derived that can be applied to a range of rigid-body motion systems. Key aspects of the optimal LQ solutions are identified, particularly how the choice of design weightings affect steady-state error for polynomial tracking. A redesign procedure for finite preview-time is proposed that preserves exact polynomial tracking properties and control bandwidth of the optimal solutions. Comparative experimental results are presented for a motor-driven linear motion stage.
UR - http://www.scopus.com/inward/record.url?scp=84897713204&partnerID=8YFLogxK
UR - http://dx.doi.org/10.1016/j.conengprac.2013.12.007
U2 - 10.1016/j.conengprac.2013.12.007
DO - 10.1016/j.conengprac.2013.12.007
M3 - Article
AN - SCOPUS:84897713204
SN - 0967-0661
VL - 26
SP - 41
EP - 50
JO - Control Engineering Practice
JF - Control Engineering Practice
IS - 1
ER -