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Title: Comparison of two feedforward design methods aiming at accurate trajectory tracking of the end point of a flexible robot arm
Authors: Torfs, DE ×
Vuerinckx, R
Swevers, Jan
Schoukens, Joannes #
Issue Date: Jan-1998
Publisher: Ieee-inst electrical electronics engineers inc
Series Title: IEEE Transactions on control systems technology vol:6 issue:1 pages:2-14
Abstract: This paper discusses the design and properties of two trajectory tracking controllers for linear time-invariant systems, and compares their implementation and experimental results on a flexible one-link robot equipped with a velocity-controlled actuator. High positioning accuracy and low tracking errors within a specified bandwidth are their performance specifications. Both controllers use the same state feedback controller, but have a different feedforward design approach. Both feedforward methods design stable prefilters which approximate the unstable inverse system model. The first method designs a stable prefilter using the extended bandwidth zero phase error tracking control (EBZPETC) method [11], which is an extension of Tomizuka's well-known zero phase error tracking control (ZPETC) method [10]. The second feedforward method adds delay to the inverse model and then uses common filter design techniques to approximate this delayed frequency response.
URI: 
ISSN: 1063-6536
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
ESAT - STADIUS, Stadius Centre for Dynamical Systems, Signal Processing and Data Analytics
× corresponding author
# (joint) last author

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