Petri, Elena (2020) High-Performance Multi-Axis Control with Applications in Compliant Parallel Manipulators. [Magistrali biennali]
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A two-axis high-performance positioning system is analyzed and controlled. Firstly, the control system was extended from one to two-axis movements. The control algorithm for each axis is based on a PID feedback controller and a force feed-forward controller. Two cross-coupling interactions arise between the axes. They are analyzed and compensated. Finally, when periodic reference signals are used, performances are improved using repetitive control (RPC) and iterative learning control (ILC).
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