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Synergetic repetitive control—a plug-in hybrid control method for precision motion control

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Abstract

Repetitive control is an effective method for reducing periodic errors in motion control applications. However, repetitive control systems are commonly prone to two issues: (1) large transient error during learning cycles and (2) limited ability to deal with complex signals. In this paper, we sought to address both of these concerns by presenting a synergetic repetitive control system comprising proportional-integral-derivative control, repetitive control, and linear plant inversion-based feedforward control to achieve high-performance precision motion control. This study focuses on the synergetic effects of combining these three control actions and compares the resulting performance with a traditional plug-in repetitive control system. Experiment results using a piezoelectric actuator system for the dynamic tracking of complex motion profiles validate the effectiveness of the proposed method.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Road, Section 4, Taipei, Taiwan

    Chi-Ying Lin & Yu-Sheng Zeng

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  1. Chi-Ying Lin
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  2. Yu-Sheng Zeng
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Correspondence to Chi-Ying Lin.

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Lin, CY., Zeng, YS. Synergetic repetitive control—a plug-in hybrid control method for precision motion control. Int J Adv Manuf Technol 87, 19–24 (2016). https://doi.org/10.1007/s00170-015-8188-6

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  • DOI: https://doi.org/10.1007/s00170-015-8188-6

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