Parameter-Varying Feedforward Control: A Kernel-Based Learning Approach
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866909608350580736 |
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| author | van Haren, Max Blanken, Lennart Oomen, Tom |
| author_facet | van Haren, Max Blanken, Lennart Oomen, Tom |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_21105 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Parameter-Varying Feedforward Control: A Kernel-Based Learning Approach van Haren, Max Blanken, Lennart Oomen, Tom Systems and Control 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. |
| title | Parameter-Varying Feedforward Control: A Kernel-Based Learning Approach |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2502.21105 |