A combined feedforward--feedback control strategy for improving the dynamics of a flexible mechanism (Q1610806)

The authors consider the dynamic behaviour of a four-bar-linkage mechanism. The modelling of the complete system, including an electromechanic actuator, is described. It is shown that by introducing an additional degree of freedom for the controlled actuator and providing a suitable control strategy, the dynamically induced inaccuracies can be reduced. An optimal control algorithm combined with feedforward-feedback output control laws is derived for both the regulation and tracking problems. The experimental results show the effectiveness of the control strategies.