Synchronization of two motion control axes under adaptive feedforward control

Masayoshi Tomizuka*, Jwu-Sheng Hu, Tsu Chih Chiu, Takuya Kamano

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations


In this paper, motion synchronization of two DC motors, or motion control axes, under adaptive feedforward control is considered. The adaptive feedforward control system for each axis consists of a proportional feedback controller, an adaptive disturbance compensator and an adaptive feedforward controller. If the two adaptive systems are left uncoupled, a disturbance input applied to one of the two axes will cause a motion error in the disturbed axis only, and the error becomes the synchronization error. To achieve a better synchronization error, coupling controller, which responds to the synchronization error, i.e. the difference between the two motion errors, is introduced. In this case, when a disturbance input is applied to one axis, the motion errors appear in the undisturbed axis as well as in the disturbed axis. The motion error in the undisturbed axis is induced by the coupling controller and adaptive feedforward controller. The adaptive synchronizing problem is formulated and analyzed in the continuous time domain first, and then in the discrete time domain. Stability conditions are obtained. Effectiveness of the adaptive synchronizing controller is demonstrated by simulation.

Original languageEnglish
Number of pages8
StatePublished - 1 Dec 1990
EventWinter Annual Meeting of the American Society of Mechanical Engineers - Dallas, TX, USA
Duration: 25 Nov 199030 Nov 1990


ConferenceWinter Annual Meeting of the American Society of Mechanical Engineers
CityDallas, TX, USA

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