Robust adaptive feedforward control and achievable tracking for systems with time delays

2014 ◽  
Vol 88 (4) ◽  
pp. 768-782 ◽  
Author(s):  
Michael R. Buehner ◽  
Peter M. Young
Keyword(s):  
Time Delays ◽  
Feedforward Control ◽  
Robust Adaptive ◽  
Adaptive Feedforward

scholarly journals Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder

2020 ◽  
Vol 10 (21) ◽  
pp. 7847
Author(s):  
Konrad Johan Jensen ◽  
Morten Kjeld Ebbesen ◽  
Michael Rygaard Hansen
Keyword(s):  
Control System ◽  
Root Mean Square ◽  
Motion Control ◽  
Experimental Verification ◽  
Feedforward Control ◽  
Position Error ◽  
Mean Square ◽  
Model Uncertainties ◽  
Feedforward Controller ◽  
Adaptive Feedforward

This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforward states, as well as 23% reduction in root mean square (RMS) cylinder position error compared to a fixed gain feedforward controller. The experiments show an even more pronounced advantage of the proposed controller, with an 80% reduction in RMS cylinder position error, and that the separate feedforward states are able to adapt to model uncertainties in both directions of motion.

A robust adaptive feedforward method for the compensation of harmonic disturbances

2007 ◽  
Vol 13 (8-10) ◽  
pp. 1261-1269 ◽  
Author(s):  
Dongho Oh ◽  
J. C. Koo ◽  
Sangmin Suh
Keyword(s):  
Robust Adaptive ◽  
Adaptive Feedforward
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