On-line instrumental variable-based feedforward tuning for non-resetting motion tasks

Journal article (2023)

Authors

Noud Mooren Eindhoven University of Technology
Gert Witvoet TNO Utrecht, Eindhoven University of Technology
T.A.E. Oomen Eindhoven University of Technology, Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Noud Mooren, Gert Witvoet, T.A.E. Oomen
DOI: https://doi.org/10.1002/rnc.6925
More Info
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Published Date

2023

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Data-driven feedforward control for tracking of varying and non-resetting point-to-point references requires continuous updating of feedforward parameters instead of task-by-task updating. The aim of this paper is to develop an adaptive feedforward controller for non-resetting point-to-point motion tasks by a data-driven feedforward controller. An approximate optimal instrumental variable (IV) estimator with real-time bootstrapping is employed in a closed-loop setting to update the feedforward parameters. A case study on a wafer-stage and experimental validation on a benchmark motion system show the performance benefit.