Naslov
Koopman-based model predictive control of a nanometric positioning system

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 18th EUSPEN International Conference / Billington, D. ; Leach, R. K. ; Phillips, D. ; Riemer, O. ; Savio, E. - Cranfield : European Society for Precision Engineering and Nanotechnology (EUSPEN), 2018, 75-76

ISBN
978-0-9957751-2-1

Skup
18th EUSPEN International Conference

Mjesto i datum
Venecija, Italija, 04.06.2018. - 08.06.2018

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Nonlinear disturbances ; nanometric positioning ; Koopman-based model predictive control ; modelling and validation

Sažetak
Nonlinear frictional disturbances limit the performances of high-precision mechatronics systems. Recently it was shown that nanometric positioning can be achieved only if these disturbances are identified, modelled and compensated for via suitable control approaches. A PID controller, complemented with feed-forward based on the Generalized Maxwell-slip model, allows hence to achieve nanometric positioning but its real-time implementation is difficult, whereas a self-tuning regulator enables nanometric positioning with a marked overshoot. Koopman-based model predictive control (MPC) is applied in this work instead. This approach allows “lifting” the nonlinear dynamics of the considered device into a higher dimensional space where its behaviour can be predicted by a linear system ; the computational complexity of the thus obtained controller is hence comparable to that of equivalent linear controllers. The resulting positioning performances are evaluated numerically in the MATLAB/Simulink environment and compared to those when the mechatronics device is driven by using different controllers. It is thus shown that the Koopman-based MPC virtually eliminates steady state errors, decreases the settling time and results in very small overshoots.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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