Abstract
This brief presents a bumpless transfer filter to attenuate signal magnitude bumps at transitions between exogenous feedforward (FF) signals in a feedback/FF control architecture. Importantly, this filter does not modify the carefully constructed exogenous FF signal at time indices away from a signal transition. Filter architecture, stability criteria, and performance considerations are detailed. An example application demonstrates filter efficacy with a piecewise iterative learning control scheme applied to a serial positioning robot. The bumpless transfer filter attenuates exogenous signal magnitude bumps at transitions between signal segments; a smoothed exogenous signal yields improved performance at transition locations and thereby decreases the 2-norm of the error signal by 12% on average.
Original language | English (US) |
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Article number | 6587780 |
Pages (from-to) | 1581-1588 |
Number of pages | 8 |
Journal | IEEE Transactions on Control Systems Technology |
Volume | 22 |
Issue number | 4 |
DOIs | |
State | Published - Jul 2014 |
Keywords
- Additive manufacturing
- bumpless transfer
- feedforward control
- iterative learning control
- precision motion control
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering