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This paper proposes model reference adaptive control (MRAC) for an integrated design of a voice coil motor and flexure mechanism to achieve a high-precision position. Based on the continuous deformation property of the flexure mechanism, the positioning system possesses linear motional characteristics without influence from the nonlinear phenomena of backlash and friction. MRAC controller design is...
A hybrid control strategy is presented for robust high-accuracy positioning performance of transmission mechanisms. A time-delay algorithm estimates unknown dynamics and completes the feedback linearization framework for the nonlinear electro-mechanical system. A feedforward controller further enhances transient tracking capability. Control performance is demonstrated by experiments on a one-dimensional...
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