Using Time Delay Estimation and Perfect Tracking Control to Improve Precise Positioning of the Transmission System

In this paper, the algorithm of time-delay estimation is considered to estimate unknown dynamics and to fulfill the feedback linearization framework. The design of perfect tracking control rooting on the poles-zeros cancellation is adopted to push the system's output to follow the desired trajectory. Thus, the feedforward controller with the capability of perfect tracking control in cooperation with the feedback linearization realized by time-delay estimation can improve the robustness of high-accuracy positioning performance of transmission mechanisms under model variations and unknown disturbances. The experimental results show the proposed control strategy is promising for the application of positioning mechanism in the presence of unknown plant parameters and external disturbances.