Adaptive Control With Internal Model for High Performance Precision Motion Control and Its Application to a Fast Acting Piezoelectric Actuator

Abstract

This paper proposes an adaptive control scheme that minimizes the leastmeansquare (LMS) value of the plant output while meeting the constraints of canceling deterministic exogenous signals generated by a priori dynamics. This scheme may be applied to a broad range of applications in which the exogenous input signals to the plant contain both deterministic and stochastic components. The adaptive control includes both feedback and previewed feedforward actions. In both actions, the deterministic signal model is included as a constraint of the dynamics from the external input to the plant output by determining solutions for a Bezout identity. The proposed scheme is applied to a fastacting piezoelectric actuator (PZT) to generate precise dynamic motion profiles. This paper presents the experimental results to demonstrate the effectiveness of the proposed adaptive control scheme.