Bandwidth-on-demand motion control

S.J.L.M. Van Loon; B.G.B. Hunnekens; A.S. Simon; N. van de Wouw; W.P.M.H. Heemels

doi:10.1109/TCST.2017.2658192

Bandwidth-on-demand motion control

S.J.L.M. Van Loon, B.G.B. Hunnekens, A.S. Simon, N. van de Wouw, W.P.M.H. Heemels

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

In this brief, we introduce a 'bandwidth-on-demand' variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear time-invariant (LTI) control suffering from design tradeoffs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VGC consists of frequency-domain loop-shaped linear filters and a variable-gain element, which depends on reference information. We present easy-to-use controller design guidelines and data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. Moreover, the ability of the 'bandwidth-on-demand' controller to outperform LTI controllers is emphasized through experiments on an industrial nanopositioning motion stage.

Original language	English
Article number	7845643
Pages (from-to)	265-273
Number of pages	9
Journal	IEEE Transactions on Control Systems Technology
Volume	26
Issue number	1
DOIs	https://doi.org/10.1109/TCST.2017.2658192
Publication status	Published - 1 Jan 2018

Keywords

Control design tradeoffs
frequency-domain
industrial application
motion control
variable-gain control (VGC)

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AU - Heemels, W.P.M.H.

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Bandwidth-on-demand motion control

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