Naslov
Application of Koopman-Based Control in Ultrahigh-Precision Positioning

Autori
Zelenika, Saša ; Kamenar, Ervin ; Korda, Milan ; Mezić, Igor

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
The Koopman Operator in Systems and Control: Concepts, Methodologies, and Applications

Urednik/ci
Mauroy, Alexandre ; Mezić, Igor ; Susuki, Yoshihiko

Izdavač
Springer

Grad
Heidelberg

Godina
2020

Raspon stranica
451-479

ISBN
978-3-030-35713-9

Ključne riječi
ultrahigh-precision ; frictional disturbances ; experiments ; Koopman-based model predictive control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Strojarstvo, Interdisciplinarne tehničke znanosti

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