Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator

Conference paper (2022)

Authors

Masahiro Mae University of Tokyo
Max van Haren Eindhoven University of Technology
Wataru Ohnishi University of Tokyo
Tom Oomen Eindhoven University of Technology, Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Hiroshi Fujimoto University of Tokyo
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Masahiro Mae, Max van Haren, Wataru Ohnishi, T.A.E. Oomen, Hiroshi Fujimoto
DOI: https://doi.org/10.23919/ACC53348.2022.9867640
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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

Feedforward control has an important role in high-precision mechatronic systems. The aim of this research is to design a discrete-time feedforward controller to improve on-sample and intersample errors. The developed approach is parameterized using a linear combination of parameters and basis functions, which results in a parameterization that has intuitive physical meaning. The basis functions are designed with a differentiator that considers the sampled-data and zero-order-hold aspects. The performance improvement is demonstrated by comparing the developed approach with a conventional basis function design for a motion system.

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