On‐line instrumental variable‐based feedforward tuning for non‐resetting motion tasks

Abstract

SummaryData‐driven feedforward control for tracking of varying and non‐resetting point‐to‐point references requires continuous updating of feedforward parameters instead of task‐by‐task updating. The aim of this paper is to develop an adaptive feedforward controller for non‐resetting point‐to‐point motion tasks by a data‐driven feedforward controller. An approximate optimal instrumental variable (IV) estimator with real‐time bootstrapping is employed in a closed‐loop setting to update the feedforward parameters. A case study on a wafer‐stage and experimental validation on a benchmark motion system show the performance benefit.