Data-based tuning of distinct inverse models used in feedforward and disturbance observer

This work proposes a data-based tuning method which is capable of tuning parameters of inverse models used in the feedforward controller and disturbance observer (DOB). Specifically, it aims to enhance the tracking performance of the positioning system by implementing different inverse models for fe...

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Bibliographic Details
Published in:IEEE Conference on Industrial Electronics and Applications (Online) pp. 1 - 6
Main Authors: Xu, Yifan, Chen, Silu, Halim, Dunant, Xu, Zhuang, Wang, Weizhen, Zhang, Chi
Format: Conference Proceeding
Language:English
Published: IEEE 03.08.2025
Subjects:
data-based tuning
disturbance oberserver
Disturbance observers
feedforward control
Feedforward systems
Inverse problems
Real-time systems
servo control
Simulation
Stability analysis
Systems modeling
Trajectory
Tuning
ISSN:2158-2297
Online Access:Get full text
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Summary:This work proposes a data-based tuning method which is capable of tuning parameters of inverse models used in the feedforward controller and disturbance observer (DOB). Specifically, it aims to enhance the tracking performance of the positioning system by implementing different inverse models for feedforward controller and DOB, allowing a data-based tuning method to find two sets of optimal parameters for both inverse models simultaneously. Real-time operational data are utilized to achieve the optimization of inverse model's parameters. Three experiments are required for the completion of single iteration in the presence of disturbances and noise. Compared to the tuning of uniform inverse model used in feedforward controller and DOB, the tuning of distinct inverse models for feedforward controller and DOB results in enhanced tracking performance. The effectiveness of the proposed method is verified through simulations.
ISSN:2158-2297
DOI:10.1109/ICIEA65512.2025.11149046