An integrated adaptive controller based on characteristic model for motion control system

The transmission mechanisms with finite stiffness and unmeasured disturbance are two main factors that affect the performance of motion control system. Therefore, in order to improve the tracking and stabilization performance of motion control system, an integrated adaptive controller based on characteristic model is developed, which is composed of golden-section adaptive control, disturbance observer, phase compensation and position integral controller. Experimental results with different frequencies of desired sinusoidal trajectory show the effectiveness of the proposed control approach compared with the conventional control.