Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control

M.O.T. Cole, T. Wongratanaphisan

Research output: Contribution to journalArticle

9 Citations (Scopus)
130 Downloads (Pure)

Abstract

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.
Original languageEnglish
Pages (from-to)41-50
Number of pages10
JournalControl Engineering Practice
Volume26
Issue number1
DOIs
Publication statusPublished - 1 May 2014

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