Data-Driven Feedforward Control for Suppressing Coupled Vibrations in Positioning Systems

In the fast and precise control of positioning mechanisms, coupled vibrations often arise owing to the interaction of multiple structural components within industrial machines, leading to deteriorated positioning accuracy and increased complexity in controller design. This paper presents data-driven vibration suppression control (DD-VSC), a feedforward (FF) control method specifically tailored to suppress these coupled vibrations. Theoretically, DD-VSC suppresses coupled vibrations, and by introducing an additional degree-of-freedom in the FF controller structure, it mitigates discontinuities in FF controller outputs during fast and precise positioning. Its effectiveness was validated through experimental comparisons with the estimated response iterative tuning method using a laboratory-positioning device.