Adaptive Feedforward Control For Reset Feedback Control Systems -- Application in Precision Motion Control
This work addresses precision motion control challenges, offering an incremental improvement over existing adaptive methods for specific applications.
The paper tackles the problem of model mismatches in reset control systems by introducing an adaptive feedforward controller that ensures convergence in tracking, with experimental results validating its effectiveness.
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.