Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness

J.C.D. Zundert, van; J.L.C. Verhaegh; W.H.T.M. Aangenent; T. Oomen; D. Antunes; W.P.M.H. Heemels

doi:10.1109/ACC.2015.7171164

Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness

J.C.D. Zundert, van
, J.L.C. Verhaegh
, W.H.T.M. Aangenent
, T. Oomen
, D. Antunes
, W.P.M.H. Heemels

Control Systems Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

6 Citations (Scopus)

312 Downloads (Pure)

Abstract

In traditional feedback control, a single sampling rate is used for all control loops. Consequently, achieving higher performance by increasing the sampling rate is generally costly. The aim of this paper is to develop a multi-rate control framework to create a breakthrough in the performance/cost trade-off in digital controller implementation. In the proposed approach one of the control loops is implemented at a lower rate of which the feedforward controller is designed through norm-based minimalization of the tracking error in this multi-rate framework. By designing and implementing one of the control loops at a lower rate, the cost is reduced and the multi-rate problem is addressed. Through simulation the adequate performance of the proposed multi-rate approach is demonstrated.

Original language	English
Title of host publication	2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	2831-2836
Number of pages	6
ISBN (Print)	978-1-4799-8686-6
DOIs	https://doi.org/10.1109/ACC.2015.7171164
Publication status	Published - Jul 2015
Event	2015 American Control Conference, ACC 2015 - Hilton Palmer House, Chicago, United States Duration: 1 Jul 2015 → 3 Jul 2015 http://acc2015.a2c2.org/

Conference

Conference	2015 American Control Conference, ACC 2015
Abbreviated title	ACC 2015
Country/Territory	United States
City	Chicago
Period	1/07/15 → 3/07/15
Internet address	http://acc2015.a2c2.org/

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10.1109/ACC.2015.7171164

ACC2015_MR_autFinal author version , 690 KB

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Zundert, van, J. C. D., Verhaegh, J. L. C., Aangenent, W. H. T. M., Oomen, T., Antunes, D., & Heemels, W. P. M. H. (2015). Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness. In 2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA (pp. 2831-2836). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2015.7171164

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title = "Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness",

abstract = "In traditional feedback control, a single sampling rate is used for all control loops. Consequently, achieving higher performance by increasing the sampling rate is generally costly. The aim of this paper is to develop a multi-rate control framework to create a breakthrough in the performance/cost trade-off in digital controller implementation. In the proposed approach one of the control loops is implemented at a lower rate of which the feedforward controller is designed through norm-based minimalization of the tracking error in this multi-rate framework. By designing and implementing one of the control loops at a lower rate, the cost is reduced and the multi-rate problem is addressed. Through simulation the adequate performance of the proposed multi-rate approach is demonstrated.",

author = "\{Zundert, van\}, J.C.D. and J.L.C. Verhaegh and W.H.T.M. Aangenent and T. Oomen and D. Antunes and W.P.M.H. Heemels",

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Zundert, van, JCD, Verhaegh, JLC, Aangenent, WHTM, Oomen, T , Antunes, D & Heemels, WPMH 2015, Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness. in 2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA. Institute of Electrical and Electronics Engineers, Piscataway, pp. 2831-2836, 2015 American Control Conference, ACC 2015, Chicago, Illinois, United States, 1/07/15. https://doi.org/10.1109/ACC.2015.7171164

Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness. / Zundert, van, J.C.D.; Verhaegh, J.L.C.; Aangenent, W.H.T.M. et al.
2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA. Piscataway: Institute of Electrical and Electronics Engineers, 2015. p. 2831-2836.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Oomen, T.

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AB - In traditional feedback control, a single sampling rate is used for all control loops. Consequently, achieving higher performance by increasing the sampling rate is generally costly. The aim of this paper is to develop a multi-rate control framework to create a breakthrough in the performance/cost trade-off in digital controller implementation. In the proposed approach one of the control loops is implemented at a lower rate of which the feedforward controller is designed through norm-based minimalization of the tracking error in this multi-rate framework. By designing and implementing one of the control loops at a lower rate, the cost is reduced and the multi-rate problem is addressed. Through simulation the adequate performance of the proposed multi-rate approach is demonstrated.

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BT - 2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA

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CY - Piscataway

T2 - 2015 American Control Conference, ACC 2015

Y2 - 1 July 2015 through 3 July 2015

ER -

Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness

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