Conference paper Open Access
Position-Dependent Snap Feedforward: A Gaussian Process Framework
van Haren, Max; Poot, Maurice; Portegies, Jim; Oomen, Tom
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.
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- Publication date:
- February 1, 2022
- DOI:
-
- Keyword(s):
- Gaussian Processes, Snap Feedforward
- Grants:
-
European Commission:
- IMOCO4.E - Intelligent Motion Control under Industry 4.E (101007311)
- Meeting:
- 2022 IEEE American Control Conference (ACC), Atlanta, Georgia, US, June 8-10 2022
- Communities:
- License (for files):
- Creative Commons Attribution 4.0 International