Command shaping for fast and precise positioning considering target position correction

This paper presents a command shaping technique based on a minimum jerk control approach for the fast and precise positioning in vibratory mechatronic systems, considering a target position correction during the positioning motion. The positioning controller is designed in the framework of 2-degreesof- freedom control: a feedback compensator is synthesized by a H
∞
control design to ensure the robust stability, while a feedforward compensator suppresses resonant vibrations in response based on a coprime factorization expression of the plant mechanism. The command shaping, on the other hand, eliminates the corresponding vibration components in the position command, where the continuity of jerk component in the correction profile can be ensured against the target position correction. The effectiveness of the proposed shaping technique has been verified by experiments using a table drive system on machine stand.