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X-WR-CALNAME;VALUE=TEXT:Eventi DIAG
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DTSTART:20211031T030000
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RDATE:20221030T030000
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UID:calendar.24886.field_data.0@oba.diag.uniroma1.it
DTSTAMP:20260404T192250Z
CREATED:20220505T135552Z
DESCRIPTION:AbstractThis talk will present recent and ongoing results on hi
 gh-precision motion systems subject to quantized sensors. The specific aim
  being pursued is that of eliminating the tracking error due to measuremen
 t quantization of incremental encoders. More generally\, it will be shown 
 that passivity plays an important role in the asymptotic tracking of perio
 dic references in the presence of nonlinear sensors. When applied to motio
 n systems\, the proposed strategy makes use of macro-micro (coarse-fine) a
 ctuators: first\, a control strategy able to asymptotically drive the quan
 tized (macro) actuator toward an oscillatory motion around the desired ref
 erence is presented\; then\, a microactuator is added to compensate for th
 ese oscillations so that the reference is asymptotically tracked. Besides 
 theoretical guarantees\, the proposed strategy is validated in an experime
 ntal setup and proved able to achieve a steady-state tracking error within
  ±0.2 μm when subject to a sensor quantization level of 5 μm. Perfect know
 ledge of the system parameters is not necessary to design and implement th
 e proposed control strategy\, which relies on the internal model principle
  and makes use of traditional frequency domain tools.Bio: Aurélio T. Salto
 n received the B.Eng. degree in Control and Automation Engineering from th
 e Pontifical Catholic University of Rio Grande do Sul\, Brazil\, in 2007. 
 He received his Ph.D. degree from the School of Electrical and Computer En
 gineering\, at the University of Newcastle\, Australia\, in 2011\, where h
 e joined the Australian Research Council Centre of Excellence for Complex 
 Dynamic Systems and Control. He is currently with the Federal University o
 f Rio Grande do Sul\, Porto Alegre\, Brazil. His research interests includ
 e applied control\, high precision motion control\, nonlinear systems\, an
 d power converters.
DTSTART;TZID=Europe/Paris:20220512T160000
DTEND;TZID=Europe/Paris:20220512T160000
LAST-MODIFIED:20220505T151123Z
LOCATION:DIAG\, Aula A5
SUMMARY:Beyond quantization: beating the encoder precision in motion system
 s - Aurélio Tergolina Salton (Federal University of Rio Grande do Sul\, Po
 rto Alegre\, Brazil)
URL;TYPE=URI:http://oba.diag.uniroma1.it/node/24886
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