Digital Preview Control for Mechanical Systems Based on the Motion Process

Abstract

This paper proposes a digital preview control method for nonlinear mechanical systems. On the trajectory control of mechanical systems, the preview control method utilizing future information of the desired trajectory is effective to improve the trajectory control performance. In the meantime, on the nonlinear mechanical systems control it is important to compensate the nonlineary dynamics. In the previous paper, we proposed a digital preview control method that could realize both nonlinear dynamics compensation and trajectory control from a viewpoint of the motion process. However, it was a practical problem that the previous method required to sense the acceleration of mechanical systems. In this paper, we primarily derive velocity and position state equation as a discrete-time model of mechanical systems based on the motion process. And then we design a digital preview control system based on the model. By means of this procedure, sensing the acceleration becomes unnecessary. Finally, the effectiveness of the proposed method is verified by simulation studies and experimental studies.