September 5, 2025MathematicsOpen Access

High-Precision Dynamic Tracking Control Method Based on Parallel GRU–Transformer Prediction and Nonlinear PD Feedforward Compensation Fusion

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Innovative method reduces tracking errors in motion control systems, integrating nonlinear PD and data-driven compensation.

The proposed method significantly reduces tracking errors while enhancing control efficiency in dynamic environments.
Using real-world data, the parallel GRU-transformer predicts motion errors accurately after just one training session.
The innovative feedforward strategy combines a nonlinear PD controller with a main controller to drive precision platforms effectively.
Testing on a permanent magnet synchronous linear motor shows improved robustness against environmental disturbances.

Wang et al. (2025) studied this question.

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