An Improved Adaptive Feedforward Cancellation for Trajectory Tracking of Fast Tool Servo Based on Fractional Calculus

Using fractional calculus, an improved adaptive feedforward cancellation (IAFC) approach is proposed for the trajectory tracking of fast tool servo (FTS), in which a novel feedforward resonator loop is developed. With only a single resonator loop, the obtained results verify that a strong robustness to the frequency disturbance can be achieved, and the performance of tracking control is improved. When the feedforward resonator loop is implemented with multiple resonators for multi-frequency tracking, the IAFC has enhanced the overall performance of the trajectory tracking about 2 orders of magnitudes. All of the obtained results show that the IAFC is more superior to the conventional AFC.