Proceedings ArticleDOI
Jerk derivative feedforward control for motion systems
M. Boerlage,R. Tousain,M Maarten Steinbuch +2 more
- Vol. 5, pp 4843-4848
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TLDR
In this paper, reference trajectory relevant model based feedforward design is discussed for motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy.Abstract:
This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance significantly. The feedforward controller may be of much lower order than the plant. The proposed feedforward controller is introduced using a model of an industrial XY-table as an application example.read more
Citations
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Journal ArticleDOI
Fixed Structure Feedforward Controller Design Exploiting Iterative Trials: Application to a Wafer Stage and a Desktop Printer
TL;DR: In this article, a linear parametrization of the feed-forward controller in a two-degree-of-freedom control architecture is chosen, which results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem, with the objective function being a quadratic function of the tracking error.
Journal ArticleDOI
Iterative motion feedforward tuning : a data-driven approach based on instrumental variable identification
TL;DR: In this paper, a new procedure to tune a feedforward controller based on measured data obtained in finite time tasks was developed, where a suitable feedforward parametrization was introduced that provided good extrapolation properties for a class of reference signals.
Journal ArticleDOI
Data-Based Tuning of Reduced-Order Inverse Model in Both Disturbance Observer and Feedforward With Application to Tray Indexing
TL;DR: This work has developed a data-based method for iterative tuning of the parameters in the reduced-order inverse model within a three-degree-of-freedom composite control structure that makes use of the input-output data obtained during closed-loop experiments to fine-tune the inverse system model.
Journal ArticleDOI
Composite jerk feedforward and disturbance observer for robust tracking of flexible systems
TL;DR: A novel feedforward controller for flexible motion systems is proposed based on both the rigid-body mode and lump-sum of the flexible modes, which gives well-behaved high-pass feedforward sensitivity and an additional disturbance observer is introduced.
References
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Journal ArticleDOI
Zero Phase Error Tracking Algorithm for Digital Control
TL;DR: In this article, a digital feed-forward control algorithm for tracking desired time varying signals is presented, which is particularly suited to the general motion control problems including robotic arms and positioning tables.
Journal ArticleDOI
Adaptive Zero Phase Error Tracking Algorithm for Digital Control
Tsu-Chin Tsao,Masayoshi Tomizuka +1 more
Proceedings ArticleDOI
A Benchmark Problem for Robust Control Design
Bong Wie,Dennis S. Bernstein +1 more
Proceedings ArticleDOI
Optimized s-curve motion profiles for minimum residual vibration
Peter H. Meckl,P.B. Arestides +1 more
TL;DR: In this article, a method for developing optimized point-to-point motion profiles to achieve fast motions with minimum vibration is presented, which uses the well-known s-curve motion profiles, but optimizes the selection of the ramp-up and ramp-down time.
Journal ArticleDOI
Advanced Motion Control: An Industrial Perspective*
TL;DR: In this paper, the design and implementation of robust controllers for the focus servo of a compact disk and the tracking servos of a hard disk mechanism is investigated. But the authors focus on the track-following performance in the presence of disk disturbances.