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

Masahiro  Mae; Max van Haren; Wataru  Ohnishi; T.A.E. Oomen; Hiroshi Fujimoto

doi:10.23919/ACC53348.2022.9867640

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

Masahiro Mae, Max van Haren, Wataru Ohnishi, T.A.E. Oomen, Hiroshi Fujimoto

Team Jan-Willem van Wingerden

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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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.

Original language	English
Title of host publication	Proceedings of the American Control Conference (ACC 2022)
Publisher	IEEE
Pages	3350-3350
ISBN (Print)	978-1-6654-5196-3
DOIs	https://doi.org/10.23919/ACC53348.2022.9867640
Publication status	Published - 2022
Event	2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: 8 Jun 2022 → 10 Jun 2022

Conference

Conference	2022 American Control Conference, ACC 2022
Country/Territory	United States
City	Atlanta
Period	8/06/22 → 10/06/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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10.23919/ACC53348.2022.9867640

Feedforward_of_Sampled-Data_System_for_High-Precision_Motion_Control_using_Basis_Functions_with_ZOH_DifferentiatorFinal published version, 116 KB

Cite this

@inproceedings{e55f9a6f600c463ca81d3e356e34d988,

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

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.",

author = "Masahiro Mae and {van Haren}, Max and Wataru Ohnishi and T.A.E. Oomen and Hiroshi Fujimoto",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2022 American Control Conference, ACC 2022 ; Conference date: 08-06-2022 Through 10-06-2022",

year = "2022",

doi = "10.23919/ACC53348.2022.9867640",

language = "English",

isbn = "978-1-6654-5196-3",

pages = "3350--3350",

booktitle = "Proceedings of the American Control Conference (ACC 2022)",

publisher = "IEEE",

address = "United States",

}

Mae, M, van Haren, M, Ohnishi, W, Oomen, TAE & Fujimoto, H 2022, Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator. in Proceedings of the American Control Conference (ACC 2022). IEEE, pp. 3350-3350, 2022 American Control Conference, ACC 2022, Atlanta, United States, 8/06/22. https://doi.org/10.23919/ACC53348.2022.9867640

Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator. / Mae, Masahiro ; van Haren, Max; Ohnishi, Wataru et al.
Proceedings of the American Control Conference (ACC 2022). IEEE, 2022. p. 3350-3350.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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T1 - Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator

AU - Mae, Masahiro

AU - van Haren, Max

AU - Ohnishi, Wataru

AU - Oomen, T.A.E.

AU - Fujimoto, Hiroshi

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2022

Y1 - 2022

N2 - 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.

AB - 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.

U2 - 10.23919/ACC53348.2022.9867640

DO - 10.23919/ACC53348.2022.9867640

M3 - Conference contribution

SN - 978-1-6654-5196-3

SP - 3350

EP - 3350

BT - Proceedings of the American Control Conference (ACC 2022)

PB - IEEE

T2 - 2022 American Control Conference, ACC 2022

Y2 - 8 June 2022 through 10 June 2022

ER -

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

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