Position-Dependent Snap Feedforward
A Gaussian Process Framework
Max van Haren (Eindhoven University of Technology)
Maurice Poot (Eindhoven University of Technology)
Jim Portegies (Eindhoven University of Technology)
T.A.E. Oomen (TU Delft - Team Jan-Willem van Wingerden, Eindhoven University of Technology)
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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.