A Data-Driven Iterative Feedforward Tuning Strategy with a Variable-Gain Feedback Controller for Linear Servo Systems

Jiaqian Fu () and Shanhu Li
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Jiaqian Fu: School of Electrical Engineering, Hebei University of Technology, Tianjin 300401, China
Shanhu Li: School of Electrical Engineering, Hebei University of Technology, Tianjin 300401, China

Energies, 2025, vol. 18, issue 13, 1-21

Abstract: Iterative feedforward tuning (IFFT) compensates for the dynamic tracking error in linear servo systems caused by reference trajectory and nonlinear friction. The feedback controller with infinite DC gain makes the steady-state tracking error zero. This paper analyzes the effect of the DC gain of the feedback controller on IFFT and proposes an IFFT strategy with a variable-gain feedback controller. This strategy makes the dynamic tracking error due to Coulomb friction behave as a continuous and easy-to-construct window function, which makes the feedforward basis function vector consistent with the dimensionality of the dynamic tracking error. This strategy improves both the efficiency and accuracy of IFFT compared to IFFT using a fixed-gain feedback controller. The dynamic tracking error is compensated to the maximum extent possible, and the steady-state tracking error is zero. Theoretical verification and experimental results indicate the excellent iterative efficiency and accuracy of IFFT with a variable-gain feedback controller.

Keywords: linear servo system; tracking error; iterative feedforward tuning; variable-gain feedback controller; basis function (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2025
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