Spatio-temporal modeling for overactuated motion control

Journal article (2025)

Authors

Paul Tacx Eindhoven University of Technology
Matthijs van de Vosse Eindhoven University of Technology
Gert Witvoet TNO, Eindhoven University of Technology
Marcel Heertjes Eindhoven University of Technology, ASML
Tom Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2025

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Increasingly stringent performance requirements for motion systems necessitate explicit control of the flexible dynamic behavior. The aim of this paper is to present an approach to identify spatio-temporal models of overactuated mechatronic systems with a limited number of spatially distributed sensors. The proposed approach exploits the modal modeling framework and exploits the symmetry in modal models to enhance the spatial resolution of the identified spatially-sampled modal models. Spatio-temporal models are identified by updating prior finite element method-based models based on the identified extended modal models. The experimental results illustrate the effectiveness of the proposed approach for the identification of complex position-dependent mechanical systems.