Enhanced Accuracy of Adaptive Observers via the Heavy–Ball Method

https://doi.org/10.58571/CNCA.AMCA.2025.056

Resumen: This paper presents the design and control of a single-axis positioning system for 3D printing applications. The system must achieve high-precision motion in a robust manner while meeting the demand for high production rates. To this end, precision engineering concepts of long-stroke and short-stroke motion are combined: the former enables positioning with millimeter-level accuracy, while the latter achieves micrometer-level precision. The system dynamics is modeled using modal decoupling and the Finite Element (FE) method. A servocontrol scheme based on Active Disturbance Rejection Control (ADRC) is proposed, and its performance is evaluated through both time-domain simulations and frequency-domain analysis. The proposed controller is compared with the traditional Loop-Shaping approach in simulation.

¿Cómo citar?

Aguilar-Bravo, D., Reyes-Báez, R. & Rodriguez-Angeles, A. (2025). Enhanced Accuracy of Adaptive Observers via the Heavy–Ball Method. Memorias del Congreso Nacional de Control Automático 2025, pp. 325-330. https://doi.org/10.58571/CNCA.AMCA.2025.056

Palabras clave

Adaptive Observers, Parameter Identification, State Estimation.

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