Parameter-varying feedforward control: A kernel-based learning approach

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-05-09 DOI:10.1016/j.mechatronics.2025.103337

Max van Haren , Lennart Blanken , Tom Oomen

引用次数: 0

Abstract

The increasing demands for high accuracy in mechatronic systems necessitate the incorporation of parameter variations in feedforward control. The aim of this paper is to develop a data-driven approach for direct learning of parameter-varying feedforward control to increase tracking performance. The developed approach is based on kernel-regularized function estimation in conjunction with iterative learning to directly learn parameter-varying feedforward control from data. This approach enables high tracking performance for feedforward control of linear parameter-varying dynamics, providing flexibility to varying reference tasks. The developed framework is validated on a benchmark industrial experimental setup featuring a belt-driven carriage.

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参数变化前馈控制：一种基于核的学习方法

机电系统对高精度的要求越来越高，这就要求在前馈控制中加入参数变化。本文的目的是开发一种数据驱动的方法来直接学习参数变化的前馈控制，以提高跟踪性能。该方法基于核正则化函数估计与迭代学习相结合，直接从数据中学习变参数前馈控制。这种方法为线性变参数动力学的前馈控制提供了高跟踪性能，为不同的参考任务提供了灵活性。所开发的框架在具有皮带驱动小车的基准工业实验装置上进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.