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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the American Control Conference (ACC 2022) |
| Publisher | IEEE |
| Pages | 4778-4783 |
| ISBN (Print) | 978-1-6654-5196-3 |
| DOIs | |
| 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-careOtherwise 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.
Keywords
- Training
- Mechatronics
- Dynamics
- Gaussian processes
- Feedforward systems
- Motion control
- MIMO communication