LPV sequential loop closing for high-precision motion systems
Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The presence of position dependent dynamics in such motion systems severely limits achievable position tracking performance using conventional sequential loop closing (SLC) control design strategies. This paper presents a novel extension of the conventional SLC design framework towards linear-parameter-varying systems, which allows to circumvent limitations that are introduced by position dependent effects in high-precision motion systems. Advantages of the proposed control design approach are demonstrated in simulation using a high-fidelity model of a moving-magnet planar actuator system, which exhibits position dependency in both actuation and sensing.
Code (0)
등록된 구현이 없습니다.
Tasks
PositionVocal Bursts Intensity PredictionSimilar Papers 제목 키워드 기반
BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM
Loop closing is a fundamental part of simultaneous localization and mapping (SLAM) for autonomous mobile systems. In the field of visual SLAM, bag of words (BoW) has achieved great success in loop closure. The BoW featur…
4kSimultaneous Localization and MappingClosing the Loop: Motion Prediction Models beyond Open-Loop Benchmarks
Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop predi…
Autonomous Drivingmotion predictionPredictionFleXstage: Lightweight Magnetically Levitated Precision Stage with Over-Actuation towards High-Throughput IC Manufacturing
Precision motion stages play a critical role in various manufacturing and inspection equipment, for example, the wafer/reticle scanning in photolithography scanners and positioning stages in wafer inspection systems. To …
Control Co-design of Actively Controlled Lightweight Structures for High-acceleration Precision Motion Systems
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for high…
Scalable Low-Cost Laboratory Automation: A Digital Twin-Integrated Robotic Platform for Autonomous Liquid Handling (RAINBOT)
Laboratory automation accelerates discovery, yet its adoption is constrained by the high cost, proprietary design, and limited remote supervisability of commercial liquid-handling systems. This work presents RAINBOT\text…