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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2021 European Control Conference, ECC 2021 |
| Publisher | IEEE |
| Pages | 2450-2457 |
| ISBN (Electronic) | 978-94-6384-236-5 |
| DOIs | |
| Publication status | Published - 2021 |
| Event | 2021 European Control Conference, ECC 2021 - Delft, Netherlands Duration: 29 Jun 2021 → 2 Jul 2021 |
Conference
| Conference | 2021 European Control Conference, ECC 2021 |
|---|---|
| Country/Territory | Netherlands |
| City | Delft |
| Period | 29/06/21 → 2/07/21 |
Keywords
- Adpative feedforward
- Mechatronics
- Motion control
- Nonlinear control
- Reset control