Samenvatting
Mechatronic systems have increasingly stringent performance requirements for
motion control, leading to a situation where many factors, such as position-dependency, cannot be neglected in feedforward control. The aim of this paper is to compensate for position-dependent effects by modeling feedforward parameters as a function of position. A framework to model and identify feedforward parameters as a continuous function of position is developed by combining Gaussian processes and feedforward parameter learning techniques. The framework results in a fully data-driven approach, which can be readily implemented for industrial control applications. The framework is experimentally validated and shows a significant performance increase on a commercial wire
bonder.
motion control, leading to a situation where many factors, such as position-dependency, cannot be neglected in feedforward control. The aim of this paper is to compensate for position-dependent effects by modeling feedforward parameters as a function of position. A framework to model and identify feedforward parameters as a continuous function of position is developed by combining Gaussian processes and feedforward parameter learning techniques. The framework results in a fully data-driven approach, which can be readily implemented for industrial control applications. The framework is experimentally validated and shows a significant performance increase on a commercial wire
bonder.
Originele taal-2 | Engels |
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Titel | 2022 IEEE 17th International Conference on Advanced Motion Control (AMC) |
Uitgeverij | Institute of Electrical and Electronics Engineers |
Pagina's | 268-273 |
Aantal pagina's | 6 |
ISBN van elektronische versie | 978-1-7281-7711-3 |
DOI's | |
Status | Gepubliceerd - 11 mrt. 2022 |
Evenement | 17th IEEE International Conference on Advanced Motion Control, AMC 2022 - Padova, Italië Duur: 18 feb. 2022 → 20 feb. 2022 Congresnummer: 17 http://static.gest.unipd.it/AMC2022/ |
Congres
Congres | 17th IEEE International Conference on Advanced Motion Control, AMC 2022 |
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Verkorte titel | AMC 2022 |
Land/Regio | Italië |
Stad | Padova |
Periode | 18/02/22 → 20/02/22 |
Internet adres |