相关论文: Inversion-free feed-forward and feedback control o…

We introduce a new inversion-free feedforward hysteresis control using the Preisach model. The feedforward scheme has a high-gain integral loop structure with Preisach hysteresis operator in negative feedback. This allows obtaining a…

We consider the non-homogeneous first-order differential equation with hysteresis described by the Krasnoselskii-Pokrovskii rate-independent hysteresis operator. Existence and uniqueness of solutions as well as the boundedness of solution…

Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…

Piezoelectric fast steering mirrors (PFSM) are widely utilized in beam precision-pointing systems but encounter considerable challenges in achieving high-precision tracking of fast trajectories due to nonlinear hysteresis and mechanical…

Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…

This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…

Rotary motors, such as hybrid stepper motors (HSMs), are widely used in industries varying from printing applications to robotics. The increasing need for productivity and efficiency without increasing the manufacturing costs calls for…

Programmable control of the inductive electric field enables advanced operations of reversed-field pinch (RFP) plasmas in the Madison Symmetric Torus (MST) device and further develops the technical basis for ohmically heated fusion RFP…

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…

Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…

In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…

We exploit an adaptive control technique, namely funnel control, in order to establish both initial and recursive feasibility in Model Predictive Control (MPC) for output-constrained nonlinear systems. Moreover, we show that the resulting…

Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…

This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…

This paper presents an acoustic impedance control architecture for an electroacoustic absorber combining both a feedforward and a feedback microphone-based strategies on a current-driven loudspeaker. Feedforward systems enable good…

This paper considers optimal input design when the intended use of the identified model is to construct a feed-forward controller based on measurable disturbances. The objective is to find a minimum power excitation signal to be used in…

Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using…

The present report summarizes the work conducted during the internship on Feedforward Control of the Magnetic Levitation Setup. Different feedforward strategies, specifically tailored for this setup, are developed and reviewed. These…

This note analyzes incoherent feedforward loops in signal processing and control. It studies the response properties of IFFL's to exponentially growing inputs, both for a standard version of the IFFL and for a variation in which the output…