Fixed-structure sampled-data feedforward control for multivariable motion systems

被引：0

作者：

Mae, Masahiro ^{[1
]}

van Haren, Max ^{[2
]}

Classens, Koen ^{[2
]}

Ohnishi, Wataru ^{[1
]}

Oomen, Tom ^{[2
,3
]}

Fujimoto, Hiroshi ^{[1
]}

机构：

[1] Univ Tokyo, Tokyo, Japan

[2] Eindhoven Univ Technol, Eindhoven, Netherlands

[3] Delft Univ Technol, Delft, Netherlands

来源：

MECHATRONICS | 2025年 / 106卷

关键词：

Feedforward control; Reference tracking; Multi-input multi-output system; Sampled-data control; Multirate inversion; Iterative learning control; ITERATIVE LEARNING CONTROL; DESIGN; ILC; TRACKING; TIME;

D O I：

10.1016/j.mechatronics.2024.103288

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Increasing performance requirements in high-precision mechatronic systems lead to a situation where both multivariable and sampled-data implementation aspects need to be addressed. The aim of this paper is to develop a design framework fora multi-input multi-output feedforward controller to improve continuous- time tracking performance through learning. The sampled-data feedforward controller is designed with physically interpretable tuning parameters using a multirate zero-order-hold differentiator. The developed approach enables interaction compensation for multi-input multi-output systems and the feedforward controller parameters are updated through learning. The performance improvement is experimentally validated in a multi-input multi-output motion system compared to the conventional feedforward controllers.

引用

页数：13

共 32 条

[1] ZEROS OF SAMPLED SYSTEMS [J].