Searched for: subject%3A%22feedforward%22
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Spijkerman, Danny (author)
Due to the increased share of (offshore) wind turbines, more stringent power requirements have been established. Importantly, the low-voltage ride-through requirement states that a wind turbine must remain connected to the electrical grid after a short intermittent grid fault. In the industry and academia many solutions have been proposed, but...
master thesis 2023
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Pierallini, M. (author), Stella, F. (author), Angelini, Franco (author), Deutschmann, Bastian (author), Hughes, Josie (author), Bicchi, Antonio (author), Garabini, Manolo (author), Della Santina, C. (author)
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to...
journal article 2023
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Aarnoudse, Leontine (author), Strijbosch, Nard (author), Tacx, Paul (author), Verschueren, Edwin (author), Oomen, T.A.E. (author)
Piezo stepper actuators are very promising for nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of this paper is to enhance the waveforms for actuating piezo steppers, by actively compensating for...
journal article 2023
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Mooren, Noud (author), Witvoet, Gert (author), Oomen, T.A.E. (author)
Data-driven feedforward control for tracking of varying and non-resetting point-to-point references requires continuous updating of feedforward parameters instead of task-by-task updating. The aim of this paper is to develop an adaptive feedforward controller for non-resetting point-to-point motion tasks by a data-driven feedforward...
journal article 2023
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Ding, J. (author), Sels, Mees A.van Loben (author), Angelini, Franco (author), Kober, J. (author), Della Santina, C. (author)
Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the...
journal article 2023
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Poot, Maurice (author), Portegies, Jim (author), Mooren, Noud (author), van Haren, Max (author), van Meer, Max (author), Oomen, T.A.E. (author)
Machine learning techniques, including Gaussian processes (GPs), are expected to play a significant role in meeting speed, accuracy, and functionality requirements in future data-intensive mechatronic systems. This paper aims to reveal the potential of GPs for motion control applications. Successful applications of GPs for feedforward and...
journal article 2022
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Kon, Johan (author), Heertjes, Marcel (author), Oomen, T.A.E. (author)
An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may introduce parameter inconsistency that degrades control performance, and to provide a solution. The...
journal article 2022
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Van Meer, Max (author), Poot, Maurice (author), Portegies, Jim (author), Oomen, T.A.E. (author)
Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using input-output data, which can be used to generate feedforward signals for a-priori unknown tasks. To this...
journal article 2022
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Aarnoudse, Leontine (author), Oomen, T.A.E. (author)
Parameterized feedforward control is at the basis of many successful control applications with varying references. The aim of this paper is to develop an efficient data-driven approach to learn the feedforward parameters for MIMO systems. To this end, a cost criterion is minimized using a stochastic gradient descent algorithm, in which both...
journal article 2022
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Mae, Masahiro (author), Van Haren, Max (author), Ohnishi, Wataru (author), Oomen, T.A.E. (author), Fujimoto, Hiroshi (author)
Sampled-data control requires both on-sample and intersample performance in high-precision mechatronic systems. The aim is to design a discrete-time linearly parameterized feedforward controller to improve both on-sample and intersample performance in a multi-modal motion system. The continuous-time performance is considered as state...
journal article 2022
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Kon, Johan (author), Bruijnen, Dennis (author), van de Wijdeven, Jeroen (author), Heertjes, Marcel (author), Oomen, T.A.E. (author)
Unknown nonlinear dynamics can limit the performance of model-based feedforward control. The aim of this paper is to develop a feedforward control framework for systems with unknown, typically nonlinear, dynamics. To address the unknown dynamics, a physics-based feedforward model is complemented by a neural network. The neural network output in...
conference paper 2022
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van Haren, Max (author), Poot, Maurice (author), Portegies, Jim (author), Oomen, T.A.E. (author)
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...
conference paper 2022
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Wagih, Hassan (author), Osman, M.E.A. (author), Awad, Mohammed I. (author), Hammad, Sherif (author)
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive camera frames, then integrates these increments to determine the pose of the vehicle. The proposed neural...
conference paper 2022
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Kon, Johan (author), Bruijnen, Dennis (author), van de Wijdeven, Jeroen (author), Heertjes, Marcel (author), Oomen, T.A.E. (author)
Unknown nonlinear dynamics often limit the tracking performance of feedforward control. The aim of this paper is to develop a feedforward control framework that can compensate these unknown nonlinear dynamics using universal function approximators. The feedforward controller is parametrized as a parallel combination of a physics-based model and...
conference paper 2022
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Overwater, R.W.J. (author), Babaie, M. (author), Sebastiano, F. (author)
Quantum error correction (QEC) is required in quantum computers to mitigate the effect of errors on physical qubits. When adopting a QEC scheme based on surface codes, error decoding is the most computationally expensive task in the classical electronic back-end. Decoders employing neural networks (NN) are well-suited for this task but their...
journal article 2022
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Guldenaar, Jordy (author)
Biochemical reactions play a crucial role and tell us many about the behavior of the biological regulation processes . We will apply several methods of order reduction to describe the overall dynamics in a more compact way. For modelling a set of biochemical reactions is rewritten as first order differential equations. This set of first order...
master thesis 2021
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Al, Mees (author)
Classical feedback control for floating offshore wind turbines has limited capabilities to reduce wave disturbances. Feedforward control uses disturbance measurement, to construct an additional control law such that the disturbance is attenuated. The main objective of this work is to prove the concept of wave-FF control to attenuate wave...
master thesis 2020
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Singh, Aditya (author)
Deformable mirrors are used for changing the wavefront of the reflected light by using one or more actuators behind the mirror to physically deform it. This application is widely used in telescopes to compensate for atmospheric aberrations using a feedback wavefront sensor. Recent advances in lithography process require more precise wavefront...
master thesis 2019
document
Khodadadian, F. (author)
Photocatalysis involves the absorption of photons by a semiconductor to enhance chemical reactions. Examples of important applications include the degradation of hazardous chemicals, reduction of carbon dioxide to valuable chemicals and (partial) oxidation of hydrocarbons. Despite many successful demonstrations of this technology at lab-scale,...
doctoral thesis 2019
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Liao, Wenjun (author), Guan, Guanghua (author), Tian, X. (author)
In the open channel control algorithm, good feed-forward controllers will reduce the transition time of the canal and improve performance. Feedforward control algorithms based on active storage compensation are greatly affected by delay time. However, there is no literature comparing the three most commonly used algorithms, namely volume step...
journal article 2019
Searched for: subject%3A%22feedforward%22
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