Adaptive point-to-point control system design using friction-based optimal state feedback

Abstract

This paper presents an adaptive control system design for high-precision positioning of a point-to-point (PTP) servo actuator. These mechanisms are characterized by nonlinear friction behaviour, vibrational modes, and dead times which are limitations to precise motion. In the proposed strategy, adaptation of a primary controller (PID) efforts is obtained depending on an optimal state feedback. As a new methodology, estimating the states of a PTP servo actuator was carried out based on the observed friction forces besides the control signal. Performances of the proposed control systems were verified using numerical simulations and compared with that of the primary controller. The results demonstrate that, the proposed scheme achieved high-precision positioning of the PTP servo actuator regardless of the presence of its dynamics problems. Moreover, the simplicity of the proposed control technique and its effectiveness for getting high-precision motion support its applicability to variety of applications. Keywords: Point-to-point control system, Adaptive control system, Nonlinear disturbances, Optimal state feedback