Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator
Masahiro Mae (University of Tokyo)
Max van Haren (Eindhoven University of Technology)
Wataru Ohnishi (University of Tokyo)
T.A.E. Oomen (TU Delft - Mechanical Engineering, Eindhoven University of Technology)
Hiroshi Fujimoto (University of Tokyo)
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Abstract
Feedforward control has an important role in high-precision mechatronic systems. The aim of this research is to design a discrete-time feedforward controller to improve on-sample and intersample errors. The developed approach is parameterized using a linear combination of parameters and basis functions, which results in a parameterization that has intuitive physical meaning. The basis functions are designed with a differentiator that considers the sampled-data and zero-order-hold aspects. The performance improvement is demonstrated by comparing the developed approach with a conventional basis function design for a motion system.