128220 20240731103417.0 doi 10.1016/j.ifacol.2023.10.181 sideral 135444 ART-2023-135444 eng Moya-Lasheras, Eduardo Universidad de Zaragoza (orcid)0000-0001-6244-3366 Run-to-run adaptive nonlinear feedforward control of electromechanical switching devices 2023 Access copy available to the general public Unrestricted Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works in conjunction with some form of feedback. In this paper, we present a new adaptive feedforward control scheme for electromechanical systems in which real-time measurements or estimates of the position and its derivatives are not technically or economically feasible. This is the case, for example, of commercial electromechanical switching devices such as solenoid actuators. Our proposal consists of two blocks: on the one hand, a feedforward controller based on differential flatness theory; on the other, an iterative adaptation law that exploits the repetitive operation of these devices to modify the controller parameters cycle by cycle. As shown, this law can be fed with any available measurement of the system, with the only requirement that it can be processed and converted into an indicator of the performance of any given operation. Simulated and experimental results show that our proposal is effective in dealing with a long-standing control problem in electromechanics: the soft-landing control of electromechanical switching devices. info:eu-repo/semantics/openAccess by-nc-nd http://creativecommons.org/licenses/by-nc-nd/3.0/es/ 0.365 2023 Control and Systems Engineering 2023 1.7 2023 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Ramirez-Laboreo, Edgar Universidad de Zaragoza (orcid)0000-0002-8977-5296 Serrano-Seco, Eloy Universidad de Zaragoza (orcid)0000-0002-7646-9863 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 56, 2 (2023), 5358-5363 IFAC-PapersOnLine IFAC PAPERSONLINE 2405-8963 787409 http://zaguan.unizar.es/record/128220/files/texto_completo.pdf Versión publicada 3325665 http://zaguan.unizar.es/record/128220/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:128220 articulos driver 2024-07-31-10:07:11 ARTICLE