Speaker
Li Li
(Harbin Institute of Technology)
Description
This paper proposes a data-based Linear Parameter-Varying (LPV) feedforward iterative tuning method for a cam-driven precision motion stage with position-dependent nonlinear gain. To overcome the limitations of standard Linear Time-Invariant (LTI) control method, the proposed feedforward controller is parameterized using position-velocity coupled polynomial basis functions. Embedding high-order position variables into the velocity channel creates spatially varying basis functions that inherently capture the position-dependent LPV dynamics. The effectiveness of the proposed method is validated via experimental results.
Author
Dr
Yue Dong
(Harbin Institute of Technology)