Paul F. Lambrechts

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This paper gives an algorithm for fourth order trajectory planning with constrained dynamics for single axis motion control. A model-based feedforward controller is derived that makes full use of these trajectories. Application to industrial high-precision electromechanical motion systems is motivated. Issues like time-optimality, implementation and(More)
This paper considers model-based feedforward for motion systems. The proposed feedforward controller consists of an acceleration feedforward part and an inverse dynamics model of flexible modes. Based on analysis and H∞ model-based feedforward design, the inverse dynamics part can be restricted to a second order filter in the form of a skew notch even if(More)
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