Spatio-temporal modeling for overactuated motion control

Paul Tacx*, Matthijs van de Vosse, Robbert Voorhoeve, Gert Witvoet, Marcel Heertjes, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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Abstract

Increasingly stringent performance requirements for motion systems necessitate explicit control of the flexible dynamic behavior. The aim of this paper is to present an approach to identify spatio-temporal models of overactuated mechatronic systems with a limited number of spatially distributed sensors. The proposed approach exploits the modal modeling framework and exploits the symmetry in modal models to enhance the spatial resolution of the identified spatially-sampled modal models. Spatio-temporal models are identified by updating prior finite element method-based models based on the identified extended modal models. The experimental results illustrate the effectiveness of the proposed approach for the identification of complex position-dependent mechanical systems.

Original languageEnglish
Article number103270
Number of pages12
JournalMechatronics
Volume105
DOIs
Publication statusPublished - 2025

Keywords

  • Motion control
  • Precision mechatronics
  • Spatio-temporal modeling
  • System identification

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