On modal observers for beyond rigid body H∞ control in high-precision mechatronics

The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured H∞ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar actuator

Design and control of high tech systems

Advanced motion systems like pick-and-place machines used in the semiconductor industry challenge the frontiers of mechatronic design, systems and control theory and practice. In the design phase, control oriented design of the electro-mechanics is necessary in order to achieve the tight performance specifications. Once realized, and since experimentation is fast, a machine in the loop procedure can be explored to close the design loop from experiment, experimental model building, model based control design, implementation and performance evaluation. Nevertheless, reliable numerical tools are required to meet the challenges posed with respect to dimensionality and model complexity. Extension of linear modeling techniques towards some classes of nonlinear systems is relevant for improved control of specific motion systems, such as with friction. Finally, medical robotics can greatly benefit from the experiences in high tech motion systems, and an eye surgical robot with haptics will be shown as an example. Other challenging applications in need for advanced design, modeling and control are fuel-efficient vehicles, including ultra-clean engines, vehicle electric and hybrid power trains, and control of plasma fusion

Design and control of high tech systems

Advanced motion systems like pick-and-place machines used in the semiconductor industry challenge the frontiers of mechatronic design, systems and control theory and practice. In the design phase, control oriented design of the electro-mechanics is necessary in order to achieve the tight performance specifications. Once realized, and since experimentation is fast, a machine in the loop procedure can be explored to close the design loop from experiment, experimental model building, model based control design, implementation and performance evaluation. Nevertheless, reliable numerical tools are required to meet the challenges posed with respect to dimensionality and model complexity. Extension of linear modeling techniques towards some classes of nonlinear systems is relevant for improved control of specific motion systems, such as with friction. Finally, medical robotics can greatly benefit from the experiences in high tech motion systems, and an eye surgical robot with haptics will be shown as an example. Other challenging applications in need for advanced design, modeling and control are fuel-efficient vehicles, including ultra-clean engines, vehicle electric and hybrid power trains, and control of plasma fusion