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 |
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| Title of host publication | 2022 American Control Conference (ACC) |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 4778-4783 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-6654-5196-3 |
| DOIs | |
| Publication status | Published - 5 Sept 2022 |
| Event | 2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: 8 Jun 2022 → 10 Jun 2022 https://acc2022.a2c2.org/ |
Conference
| Conference | 2022 American Control Conference, ACC 2022 |
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| Abbreviated title | ACC 2022 |
| Country/Territory | United States |
| City | Atlanta |
| Period | 8/06/22 → 10/06/22 |
| Internet address |