Position-Dependent Snap Feedforward

A Gaussian Process Framework

Conference paper (2022)

Authors

Max Van Haren Eindhoven University of Technology
Maurice Poot Eindhoven University of Technology
Jim Portegies Eindhoven University of Technology
T.A.E. Oomen Eindhoven University of Technology, Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Max van Haren, Maurice Poot, Jim Portegies, T.A.E. Oomen
DOI: https://doi.org/10.23919/ACC53348.2022.9867449
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

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.

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- Embargo expired in 05-03-2023