Multirate Feedforward Control based on Modal Form with Mode Selection Applied to Multi-Modal High-Precision Positioning Stage

被引：1
|
作者：
Mae, Masahiro [1 ]
Ohnishi, Wataru [1 ]
Fujimoto, Hiroshi [1 ]
机构：
[1] Univ Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 2778561, Japan
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM) | 2021年
关键词：
multirate feedforward control; modal form; perfect tracking control; intersample behavior; PERFECT TRACKING CONTROL; MOTION CONTROL;
D O I：
10.1109/ICM46511.2021.9385685
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Multirate feedforward control provides perfect tracking control for the desired state trajectory in the model. The aim of this paper is the analysis of multirate feedforward control based on modal form with mode selection. The proposed approach is applied for a mechanical system that has several modes and a multirate feedforward controller is designed depending on the mode selection. The approach is successfully applied to an 8th order motion system. The proposed approach improves the intersample behavior of tracking error compared with multirate feedforward control based on controllable canonical form.
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页数：6
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