Robust Simple Adaptive Control with Augmented Output Signal and Friction Compensation for Industrial Feed Drive Systems

Feed drive systems are widely used for industrial machines in factories all over the world, and further robust performance is expected for precision motion. This study considers an application of simple adaptive control to feed drive systems, which generally requires an almost strictly positive real property in a plant. Although a parallel feedforward compensator is a typical approach to achieve this property, it may intrinsically deteriorate the control performance. This study applies an augmented output signal consisting of position and velocity information to achieve the above property. In addition, an adaptive friction compensator is also designed to further improve the performance. Experimental results demonstrate the effectiveness of the proposed approach.