Mae, Masahiro (The University of Tokyo), van Haren, Max (Eindhoven University of Technology), Classens, Koen (Eindhoven University of Technology), Ohnishi, Wataru (The University of Tokyo), Oomen, Tom (Eindhoven University of Technology), Fujimoto, Hiroshi (The University of Tokyo)

Fixed-Structure Sampled-Data Feedforward Control for Multivariable Motion Systems

Scheduled for presentation during the Regular Session "Robust and Nonlinear control" (WeBT3), Wednesday, July 16, 2025, 15:40−16:00, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Increasing performance requirements in high-precision mechatronic systems lead to a situation where both multivariable and sampled-data implementation aspects need to be addressed. The aim of this paper is to develop a design framework for a multi-input multi-output feedforward controller to improve continuous-time tracking performance through learning. The sampled-data feedforward controller is designed with physically interpretable tuning parameters using a multirate zero-order-hold differentiator. The developed approach enables interaction compensation for multi-input multi-output systems and the feedforward controller parameters are updated through learning. The performance improvement is experimentally validated in a multi-input multi-output motion system compared to the conventional feedforward controllers.