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Centre for Artificial Intelligence and Cybersecurity – AIRI

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Application of Koopman-Based Control in Ultrahigh-Precision Positioning

29.02.2020

Ultra-high precision positioning devices are of outmost importance in microsystems’ technologies and precision engineering. The frictional disturbances of mechanical elements in relative motion often limit their positioning performances. If nanometric positioning precision and accuracy are aimed for, frictional disturbances have thus to be identified, modeled and compensated for via appropriate control algorithms. Suitable experimental set-ups are therefore employed to study the effects of frictional disturbances. The parameters related to state-of-the-art friction models are experimentally identified. Different control algorithms, such as a PID controller, a feed-forward controller and adaptive controllers, are experimentally and numerically validated and compared. It is proven that adaptive controllers enable nanometric precision positioning, but in point-to-point positioning applications can give rise to large overshoots and issues related to lengthy settling times. It is shown that these problems can be minimized by employing the Koopman-based model predictive control that allows simplifying the modeling burden while successfully compensating the frictional effects.

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Machine Learning for Knowledge Transfer in Medical Radiology

Estimating River Discharges in Highly Stratified Estuaries

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National Competence Centres in the Framework of EuroHPC (EUROCC)

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ICAIH 2020 conference presentation

International conference “Exploring Digital Legal Landscapes” – 11th of December, 2020

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