Delay-based Design of Feedforward Tracking Control for Predictable Embedded Platforms | IEEE Conference Publication | IEEE Xplore

Delay-based Design of Feedforward Tracking Control for Predictable Embedded Platforms


Abstract:

This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to...Show More

Abstract:

This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to-actuator delay which in turn changes the location of the system zeros. In this work, we show that such delay changes the number of unstable zeros which influences the tracking performance. We propose a zero loci analysis with respect to the delay and identify delay regions which potentially improve tracking performance. We utilize the analysis results to improve tracking performance of implementations targeting modern predictable embedded architectures where the delay can be precisely regulated. We validate our results by simulation and hardware-in-the-loop (HIL) implementation considering a real-life motion system.
Date of Conference: 10-12 July 2019
Date Added to IEEE Xplore: 29 August 2019
ISBN Information:

ISSN Information:

Conference Location: Philadelphia, PA, USA

I. Introduction

High precision motion control systems play an important role in many domains like robotics [1], lithography [2], and many more [3]. They perform fast and accurate tracking of a predefined reference signal [1], e.g., motion path. Feedforward tracking controllers are commonly used to achieve this high precision [4]. In such control structures, a feedback component ensures the stability of the closed loop system, and the feedforward component enables the reference tracking [5].

Contact IEEE to Subscribe

References

References is not available for this document.