Feedforward with Acceleration and Snap using Sampled-Data Differentiator for a Multi-Modal Motion System

Journal article (2022)

Authors

Masahiro Mae University of Tokyo
Max van Haren Eindhoven University of Technology
Wataru Ohnishi University of Tokyo
T.A.E. Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Hiroshi Fujimoto University of Tokyo
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Masahiro Mae, Max Van Haren, Wataru Ohnishi, T.A.E. Oomen, Hiroshi Fujimoto
DOI
help_outline
https://doi.org/10.1016/j.ifacol.2022.11.193
Sampled-data control Feedforward Discrete-time system Multirate Zero-order-hold
More Info
expand_more

Published Date

2022

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

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.