Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty

Rudolf Saathof; Thomas Riel; Matthias Bibl; Dominik Kohl; Han Woong Yoo; Georg Schitter

doi:10.1109/ACC.2016.7525310

Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty

Rudolf Saathof^*, Thomas Riel, Matthias Bibl, Dominik Kohl, Han Woong Yoo, Georg Schitter

^*Corresponding author for this work

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

Abstract

Robust feedback control with large parameter uncertainties in a high precision stage with large sample mass variation is presented. Instead of expressing the nominal plant and its uncertainty by parametric models, they are expressed using the identified frequency response data. The open loop transfer function is mapped onto a Nyquist plot, to assess robust stability. Next, the complementary sensitivity function is derived from this data to describe tracking performance, which is verified by experiments. The advantage is that the parameter estimation step is omitted, without compromising robust stability and performance.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2611-2616
Number of pages	6
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7525310
Publication status	Published - 2016
Externally published	Yes
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	6/07/16 → 8/07/16

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10.1109/ACC.2016.7525310

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Saathof, R., Riel, T., Bibl, M., Kohl, D., Yoo, H. W., & Schitter, G. (2016). Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty. In 2016 American Control Conference, ACC 2016 (pp. 2611-2616). Article 7525310 (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ACC.2016.7525310

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title = "Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty",

abstract = "Robust feedback control with large parameter uncertainties in a high precision stage with large sample mass variation is presented. Instead of expressing the nominal plant and its uncertainty by parametric models, they are expressed using the identified frequency response data. The open loop transfer function is mapped onto a Nyquist plot, to assess robust stability. Next, the complementary sensitivity function is derived from this data to describe tracking performance, which is verified by experiments. The advantage is that the parameter estimation step is omitted, without compromising robust stability and performance.",

author = "Rudolf Saathof and Thomas Riel and Matthias Bibl and Dominik Kohl and Yoo, {Han Woong} and Georg Schitter",

year = "2016",

doi = "10.1109/ACC.2016.7525310",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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note = "2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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Saathof, R, Riel, T, Bibl, M, Kohl, D, Yoo, HW & Schitter, G 2016, Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty. in 2016 American Control Conference, ACC 2016., 7525310, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers (IEEE), pp. 2611-2616, 2016 American Control Conference, ACC 2016, Boston, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7525310

Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty. / Saathof, Rudolf; Riel, Thomas; Bibl, Matthias et al.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 2611-2616 7525310 (Proceedings of the American Control Conference; Vol. 2016-July).

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

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AU - Schitter, Georg

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AB - Robust feedback control with large parameter uncertainties in a high precision stage with large sample mass variation is presented. Instead of expressing the nominal plant and its uncertainty by parametric models, they are expressed using the identified frequency response data. The open loop transfer function is mapped onto a Nyquist plot, to assess robust stability. Next, the complementary sensitivity function is derived from this data to describe tracking performance, which is verified by experiments. The advantage is that the parameter estimation step is omitted, without compromising robust stability and performance.

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Saathof R, Riel T, Bibl M, Kohl D, Yoo HW, Schitter G. Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty. In 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers (IEEE). 2016. p. 2611-2616. 7525310. (Proceedings of the American Control Conference). doi: 10.1109/ACC.2016.7525310

Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty

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