Data-Based Tuning of Reduced-Order Inverse Model in Both Disturbance Observer and Feedforward With Application to Tray Indexing

Performance of traditional model-based control relies upon accurate modeling. In motion control of flexible systems, it is desirable to use the reduced-order model for ease of trajectory planning and pole placement, but its performance is constrained by modeling inaccuracies due to the existence of friction and multiple flexible modes. To improve the tracking performance, we have developed a data-based method for iterative tuning of the parameters in the reduced-order inverse model within a three-degree-of-freedom composite control structure. The proposed method solely makes use of the input-output data obtained during closed-loop experiments to fine-tune the inverse system model, and accurate system modeling is not required. Unbiasedness of the cost function gradient estimation is proven under reasonable assumptions of stochastic properties of the perturbations. Simulation and experiments are conducted to further illustrate the proposed method and show its practical appeals in industrial applications.

[1]  Abdullah Al Mamun,et al.  A constrained linear quadratic optimization approach to jerk decoupling cartridge design for vibration suppression , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[2]  Si-Lu Chen,et al.  Principle and Modeling of a Novel Moving Coil Linear-Rotary Electromagnetic Actuator , 2016, IEEE Transactions on Industrial Electronics.

[3]  Si-Lu Chen,et al.  Control of an 2-DOF electromagnetic actuator for high precision and high-throughput pick-and-place tasks , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[4]  Mf Marcel Heertjes,et al.  Data-Based Motion Control of Wafer Scanners , 2016 .

[5]  Si-Lu Chen,et al.  Precision Control of Piezoelectric Ultrasonic Motor for Myringotomy With Tube Insertion , 2015 .

[6]  Robert R. Bitmead,et al.  Direct iterative tuning via spectral analysis , 2000, Autom..

[7]  Huijun Gao,et al.  Data-Based Techniques Focused on Modern Industry: An Overview , 2015, IEEE Transactions on Industrial Electronics.

[8]  Svante Gunnarsson,et al.  Iterative feedback tuning: theory and applications , 1998 .

[9]  B. B. Gaikwad,et al.  Design of a low-cost pneumatic seeder for nursery plug trays , 2008 .

[10]  S. Gunnarsson,et al.  A convergent iterative restricted complexity control design scheme , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[11]  Jian-Xin Xu,et al.  A data-driven motion control approach for a robotic fish , 2015 .

[12]  Min Li,et al.  An Integrated Model-Data-Based Zero-Phase Error Tracking Feedforward Control Strategy With Application to an Ultraprecision Wafer Stage , 2017, IEEE Transactions on Industrial Electronics.

[13]  Chee Khiang Pang,et al.  Design and Modeling of a Six-Degree-of-Freedom Magnetically Levitated Positioner Using Square Coils and 1-D Halbach Arrays , 2017, IEEE Transactions on Industrial Electronics.

[14]  Radu-Emil Precup,et al.  Data-based two-degree-of-freedom iterative control approach to constrained non-linear systems , 2015 .

[15]  J. J. M. Lunenburg,et al.  Inversion-Based MIMO Feedforward Design Beyond Rigid Body Systems , 2010 .

[16]  Tianyou Chai,et al.  Nonlinear Disturbance Observer-Based Control Design for a Robotic Exoskeleton Incorporating Fuzzy Approximation , 2015, IEEE Transactions on Industrial Electronics.

[17]  Qingze Zou,et al.  A review of feedforward control approaches in nanopositioning for high-speed spm , 2009 .

[18]  Simone Formentin,et al.  A Data-Driven Approach to Mixed-Sensitivity Control With Application to an Active Suspension System , 2013, IEEE Transactions on Industrial Informatics.

[19]  Håkan Hjalmarsson,et al.  Control of nonlinear systems using iterative feedback tuning , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[20]  A.G. Alleyne,et al.  A survey of iterative learning control , 2006, IEEE Control Systems.

[21]  Qing-Guo Wang,et al.  Auto-tuning of multivariable PID controllers from decentralized relay feedback , 1997, Autom..

[22]  Håkan Hjalmarsson,et al.  Iterative feedback tuning—an overview , 2002 .

[23]  Si-Lu Chen,et al.  Toward Comprehensive Modeling and Large-Angle Tracking Control of a Limited-Angle Torque Actuator With Cylindrical Halbach , 2016, IEEE/ASME Transactions on Mechatronics.

[24]  YangQuan Chen,et al.  Tuning and auto-tuning of fractional order controllers for industry applications , 2008 .

[25]  Zhijia Zhao,et al.  Adaptive boundary control of an axially moving belt system with high acceleration/deceleration , 2016 .

[26]  Chee Khiang Pang,et al.  Integrated Servo-Mechanical Design of a Fine Stage for a Coarse/Fine Dual-Stage Positioning System , 2016, IEEE/ASME Transactions on Mechatronics.

[27]  Si-Lu Chen,et al.  Low-order feedforward control schemes for flexible motion systems with different rigid-body damping , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[28]  M. Steinbuch,et al.  Jerk derivative feedforward control for motion systems , 2004, Proceedings of the 2004 American Control Conference.

[29]  Kouhei Ohnishi,et al.  On the Explicit Robust Force Control via Disturbance Observer , 2015, IEEE Transactions on Industrial Electronics.

[30]  Mu-Tian Yan,et al.  Theory and application of a combined feedback–feedforward control and disturbance observer in linear motor drive wire-EDM machines , 2008 .

[31]  Ligang Wu,et al.  Disturbance Observer-Based Antiwindup Control for Air-Breathing Hypersonic Vehicles , 2016, IEEE Transactions on Industrial Electronics.

[32]  Ioan Doré Landau,et al.  Robust and Adaptive Active Vibration Control Using an Inertial Actuator , 2016, IEEE Transactions on Industrial Electronics.

[33]  Lino Guzzella,et al.  Iterative Tuning of Internal Model Controllers With Application to Air/Fuel Ratio Control , 2010, IEEE Transactions on Control Systems Technology.

[34]  M Maarten Steinbuch,et al.  Trajectory planning and feedforward design for electromechanical motion systems , 2005 .

[35]  Zhuo Wang,et al.  From model-based control to data-driven control: Survey, classification and perspective , 2013, Inf. Sci..

[36]  Wei Xing Zheng,et al.  Design of a Prediction-Accuracy-Enhanced Continuous-Time MPC for Disturbed Systems via a Disturbance Observer , 2015, IEEE Transactions on Industrial Electronics.

[37]  Emre Sariyildiz,et al.  Stability and Robustness of Disturbance-Observer-Based Motion Control Systems , 2019, IEEE Transactions on Industrial Electronics.

[38]  Si-Lu Chen,et al.  Development of an Approach Toward Comprehensive Identification of Hysteretic Dynamics in Piezoelectric Actuators , 2013, IEEE Transactions on Control Systems Technology.

[39]  Chun Jeng Kong,et al.  A constrained linear quadratic optimization algorithm toward jerk-decoupling cartridge design , 2017, J. Frankl. Inst..

[40]  Hou Zhong,et al.  On Data-driven Control Theory:the State of the Art and Perspective , 2009 .

[41]  Shangtai Jin,et al.  Data-driven terminal iterative learning control with high-order learning law for a class of non-linear discrete-time multiple-input–multiple output systems , 2015 .

[42]  Kok Kiong Tan,et al.  Force estimation and failure detection based on disturbance observer for an ear surgical device. , 2017, ISA transactions.

[43]  Si-Lu Chen,et al.  Discrete Composite Control of Piezoelectric Actuators for High-Speed and Precision Scanning , 2013, IEEE Transactions on Industrial Informatics.

[44]  M. Tomizuka,et al.  Iterative tuning of feedforward controller with force ripple compensation for wafer stage , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[45]  Si-Lu Chen,et al.  Data-Driven Modeling of Control Valve Stiction Using Revised Binary-Tree Structure , 2015 .

[46]  Min Li,et al.  A Data-Driven Variable-Gain Control Strategy for an Ultra-Precision Wafer Stage With Accelerated Iterative Parameter Tuning , 2015, IEEE Transactions on Industrial Informatics.

[47]  Si-Lu Chen,et al.  Identification of Coulomb Friction-Impeded Systems With a Triple-Relay Feedback Apparatus , 2012, IEEE Transactions on Control Systems Technology.

[48]  Yi Jiang,et al.  A Data-Driven Iterative Decoupling Feedforward Control Strategy With Application to an Ultraprecision Motion Stage , 2015, IEEE Transactions on Industrial Electronics.

[49]  Okko Bosgra,et al.  Fixed Structure Feedforward Controller Design Exploiting Iterative Trials: Application to a Wafer Stage and a Desktop Printer , 2008 .

[50]  Ming Zhang,et al.  Performance-Oriented Precision LARC Tracking Motion Control of a Magnetically Levitated Planar Motor With Comparative Experiments , 2016, IEEE Transactions on Industrial Electronics.

[51]  Johannes A.G.M. van Dijk,et al.  Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design , 2002 .

[52]  Carl J. Kempf,et al.  Disturbance observer and feedforward design for a high-speed direct-drive positioning table , 1999, IEEE Trans. Control. Syst. Technol..

[53]  Si-Lu Chen,et al.  SVD-based Preisach hysteresis identification and composite control of piezo actuators. , 2012, ISA transactions.

[54]  Z. Hou,et al.  On Data-driven Control Theory: the State of the Art and Perspective: On Data-driven Control Theory: the State of the Art and Perspective , 2009 .