Position-Dependent Snap Feedforward

Position-Dependent Snap Feedforward: A Gaussian Process Framework

van Haren, Max (Eindhoven University of Technology)
Poot, Maurice (Eindhoven University of Technology)
Portegies, Jim (Eindhoven University of Technology)
Oomen, T.A.E. (TU Delft Team Jan-Willem van Wingerden; Eindhoven University of Technology)

2022

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.

Training
Mechatronics
Dynamics
Gaussian processes
Feedforward systems
Motion control
MIMO communication

http://resolver.tudelft.nl/uuid:aab53b12-00eb-4444-ad63-4e9da91e287d

https://doi.org/10.23919/ACC53348.2022.9867449

IEEE

2023-03-05

978-1-6654-5196-3

Proceedings of the American Control Conference (ACC 2022)

2022 American Control Conference, ACC 2022, 2022-06-08 → 2022-06-10, Atlanta, United States

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2022 Max van Haren, Maurice Poot, Jim Portegies, T.A.E. Oomen