Position-Dependent Snap Feedforward

A Gaussian Process Framework

Conference paper (2022)

Authors

Max van Haren Eindhoven University of Technology
Maurice Poot Eindhoven University of Technology
Jim Portegies Eindhoven University of Technology
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)
Copyright: © 2022 Max van Haren, Maurice Poot, Jim Portegies, T.A.E. Oomen
DOI: https://doi.org/10.23919/ACC53348.2022.9867449
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Mechatronic systems have increasingly high performance requirements for motion control. The low-frequency contribution of the flexible dynamics, i.e., the compliance, should be compensated for by means of snap feedforward to achieve high accuracy. Position-dependent compliance, which often occurs in motion systems, requires the snap feedforward parameter to be modeled as a function of position. Position-dependent compliance is compensated for by using a Gaussian process to model the snap feedforward parameter as a continuous function of position. A simulation of a flexible beam shows that a significant performance increase is achieved when using the Gaussian process snap feedforward parameter to compensate for position-dependent compliance.

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