Joint input shaping and feedforward for point-to-point motion : automated tuning for an industrial nanopositioning system

F.A.J. Boeren, D.J.H. Bruijnen, N.J.M. Dijk, van, T.A.E. Oomen

Research output: Contribution to journalArticleAcademicpeer-review

54 Citations (Scopus)
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Abstract

Feedforward control can effectively compensate for the servo error induced by the reference signal if it is tuned appropriately. This paper aims to introduce a new joint input shaping and feedforward parametrization in iterative feedforward control. Such a parametrization has the potential to significantly improve the performance for systems executing a point-to-point reference trajectory. The proposed approach enables an efficient optimization procedure with global convergence. A simulation example and an experimental validation on an industrial motion system confirm (i) the performance improvement obtained by means of the joint input shaping and feedforward parametrization compared to pre-existing results, and (ii) the efficiency of the proposed optimization procedure. Keywords : Feedforward control; Input shaping; Precision motion systems; Data-driven control
Original languageEnglish
Pages (from-to)572-581
Number of pages10
JournalMechatronics
Volume24
Issue number6
DOIs
Publication statusPublished - 2014

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