Jerk derivative feedforward control for motion systems

This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance signific...

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Published in2004 American Control Conference Proceedings; Volume 5 of 6 Vol. 5; pp. 4843 - 4848 vol.5
Main Authors Boerlage, M., Tousain, R., Steinbuch, M.
Format Conference Proceeding Journal Article
LanguageEnglish
Published Piscataway NJ IEEE 01.01.2004
Evanston IL American Automatic Control Council
Subjects
Adaptive control
Applied sciences
Computer science; control theory; systems
Control systems
Control theory. Systems
Electrical equipment industry
Error correction
Exact sciences and technology
Frequency
Industrial control
Motion control
Resonance
Servomechanisms
Tracking
Rigid bodies
Reference model
Feedforward
Low frequency
Motion control
Modeling
Jolt
Derivative control
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ISBN9780780383357
0780383354
ISSN0743-1619
DOI10.23919/ACC.2004.1384080

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Abstract This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance significantly. The feedforward controller may be of much lower order than the plant. The proposed feedforward controller is introduced using a model of an industrial XY-table as an application example.
AbstractList This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance significantly. The feedforward controller may be of much lower order than the plant. The proposed feedforward controller is introduced using a model of an industrial XY-table as an application example.
Author Tousain, R.
Boerlage, M.
Steinbuch, M.
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Keywords Rigid bodies
Reference model
Feedforward
Low frequency
Motion control
Modeling
Jolt
Derivative control
Language English
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Snippet This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are...
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SubjectTerms Adaptive control
Applied sciences
Computer science; control theory; systems
Control systems
Control theory. Systems
Electrical equipment industry
Error correction
Exact sciences and technology
Frequency
Industrial control
Motion control
Resonance
Servomechanisms
Tracking
Title Jerk derivative feedforward control for motion systems
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