Feedforward control can significantly improve the performance of a motion system through compensation of known disturbances. Recently, new feedforward algorithms have been proposed that exploit measured data from previous tasks and a suitable feedforward parametrization to attain high performance. The aim of this paper is to analyze the accuracy of these approaches. To achieve this, related results from closed-loop identification are exploited in feedforward control. Furthermore, a new algorithm is proposed that leads to optimal accuracy. The results are confirmed in a simulation study of a motion system.
|Titel||Proceedings of the 2014 American Control Conference (AACC) , 4-6 June 2014, Portland, Oregon, USA|
|Plaats van productie||Piscataway|
|Uitgeverij||Institute of Electrical and Electronics Engineers|
|ISBN van geprinte versie||978-1-4799-3272-6|
|Status||Gepubliceerd - 2014|
Boeren, F. A. J., Oomen, T. A. E., & Steinbuch, M. (2014). Accuracy aspects in motion feedforward tuning. In Proceedings of the 2014 American Control Conference (AACC) , 4-6 June 2014, Portland, Oregon, USA (blz. 2178-2183). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2014.6858833