On-line instrumental variable-based feedforward tuning for non-resetting motion tasks
article
Data-driven feedforward control for tracking of varying and non-resetting point-to-point references requires continuous updating of feedforward parameters instead of task-by-task updating. The aim of this paper is to develop an adaptive feedforward controller for non-resetting point-to-point motion tasks by a data-driven feedforward controller. An approximate optimal instrumental variable (IV) estimatorwith real-time bootstrapping is employed in a closed-loop setting to update the feedforward parameters. A case study on a wafer-stage and experimental validation on a benchmark motion system show the performance benefit.
TNO Identifier
988598
Source
International journal of robust nonlinear control
Publisher
Wiley
Collation
19 p.
Place of publication
New York, NY, USA