Abstract
This paper introduces a new acceleration feedforward control strategy. The proposed feedforward control consists of a feedforward coefficient and a delay element. A calibration algorithm is provided which calculates the feedforward coefficient and delay time accurately based on experiments. And a detailed calibration process is described. The feedforward control can make model-based feedforward design simple and can gain high tracking performance. Experimental results demonstrate the feasibility and effectiveness of the proposed feedforward control strategy and calibration algorithm.
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Teng, W., Zhou, Y., Li, X., Yang, L. (2008). Design of Acceleration Feedforward and Study of Calibration Algorithm. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_58
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DOI: https://doi.org/10.1007/978-3-540-88518-4_58
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88516-0
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