Feedforward with Acceleration and Snap using Sampled-Data Differentiator for a Multi-Modal Motion System
Masahiro Mae (University of Tokyo)
Max van Haren (Eindhoven University of Technology)
Wataru Ohnishi (University of Tokyo)
T. Oomen (TU Delft - Team Jan-Willem van Wingerden, Eindhoven University of Technology)
Hiroshi Fujimoto (University of Tokyo)
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Abstract
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 compatibility by a multirate zero-order-hold differentiator. The developed approach enables the linearly parameterized feedforward controller design for sampled-data systems with physically intuitive tuning parameters. The performance improvement is validated by comparing the developed approach with a conventional approach using a backward differentiator for a multi-modal motion system.
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