Einladung zum Vortrag im Kolloquium Technische Kybernetik

Advanced Motion Control

Prof.dr.ir. Maarten Steinbuch
Control Systems Technology Group, Eindhoven University of Technology

    Zeit: Dienstag · 27. 5. 2003 · 16:00 Uhr
    Ort: Hörsaal V 9. 31 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen

Abstract

The control of motion systems, such as pick and place machines and robotic systems, is a challenging and active field of research. Key characteristics are that modelling of the plant is a relative mature engineering field, and feedback tuning is normally done using loop shaping techniques. However, requirements on performance are still growing. The approach taken is to design feedback and feedforward control, using the same level of detail of the dynamics of the system.
Moreover, after careful design of the controller, the motion errors left are mainly due to external disturbances such as shocks, vibrations, measurement noise etc. In this respect, and facing the fundamental limitations of feedback control, it is most important to accurately address the dynamics and characteristics of these disturbance signals. This is what we call data-based or disturbance-based control.
Examples are the use of the periodic nature of signals, yielding iterative learning and repetitive control. This will be illustrated using a Compact Disc drive and Wafer stepper as example motion systems.

Biographical Information

Maarten Steinbuch received the M.Sc. degree (1984) and Ph.D. degree (1989) from Mechanical Engineering, Delft University of Technology, Delft, The Netherlands.
From 1987-1998 he was with Philips Research Labs., Eindhoven as a Member of the Scientific Staff, working on modelling and control of mechatronic applications.
From 1998-1999 he was manager of the Dynamics and Control group at Philips Center for Manufacturing Technology.
Since 1999 he is full professor of the Control Systems Technology group of the Mechanical Engineering Department of Eindhoven University of Technology. His research interests are modelling and control of motion systems.