Application of Koopman-Based Control in Ultrahigh-Precision Positioning (CROSBI ID 66194)
Prilog u knjizi | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Zelenika, Saša ; Kamenar, Ervin ; Korda, Milan ; Mezić, Igor
engleski
Application of Koopman-Based Control in Ultrahigh-Precision Positioning
Ultra-high precision positioning devices are of outmost importance in microsystems’ technologies and precision engineering. The frictional disturbances of mechanical elements in relative motion often limit their positioning performances. If nanometric positioning precision and accuracy are aimed for, frictional disturbances have thus to be identified, modeled and compensated for via appropriate control algorithms. Suitable experimental set-ups are therefore employed to study the effects of frictional disturbances. The parameters related to state-of-the-art friction models are experimentally identified. Different control algorithms, such as a PID controller, a feed-forward controller and adaptive controllers, are experimentally and numerically validated and compared. It is proven that adaptive controllers enable nanometric precision positioning, but in point-to-point positioning applications can give rise to large overshoots and issues related to lengthy settling times. It is shown that these problems can be minimized by employing the Koopman-based model predictive control that allows simplifying the modeling burden while successfully compensating the frictional effects.
ultrahigh-precision ; frictional disturbances ; experiments ; Koopman-based model predictive control
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Podaci o prilogu
451-479.
objavljeno
Podaci o knjizi
The Koopman Operator in Systems and Control: Concepts, Methodologies, and Applications
Mauroy, Alexandre ; Mezić, Igor ; Susuki, Yoshihiko
Heidelberg: Springer
2020.
978-3-030-35713-9
Povezanost rada
Interdisciplinarne tehničke znanosti, Matematika, Strojarstvo