A Simple Robust Controller for Precise Positioning Mechanisms

摘要

A hybrid control strategy is presented for robust high-accuracy positioning performance of transmission mechanisms. A time-delay algorithm estimates unknown dynamics and completes the feedback linearization framework for the nonlinear electro-mechanical system. A feedforward controller further enhances transient tracking capability. Control performance is demonstrated by experiments on a one-dimensional positioning mechanism in the presence of unknown plant parameters and external disturbances.