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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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Transversal Skills in Applied Artificial Intelligence (TSAAI)

INNO2MARE – Strengthening the capacity for excellence of Slovenian and Croatian innovation ecosystems to support the digital and green transitions of maritime regions

European Digital Innovation Hub Adria Croatia

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Machine Learning for Knowledge Transfer in Medical Radiology

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Fracture Recognition in Paediatric Wrist Radiographs: An Object Detection Approach

Rapid extraction of skin physiological parameters from hyperspectral images using machine learning

Extended Energy-Expenditure Model in Soccer: Evaluating Player Performance in the Context of the Game

A Review of Data-Driven Approaches and Techniques for Fault Detection and Diagnosis in HVAC Systems

Block-Adaptive Rényi Entropy-Based Denoising for Non-Stationary Signals

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Recognition of the Faculty of Information and Digital Technologies

Assoc. prof. Jonatan Lerga received the Croatian Academy of Sciences and Arts award

Dr. Sc. Nikola Lopac successfully defended his doctoral dissertation

Presentation at the conference “Digital Innovation and Technology for People”

Assoc. prof. dr. sc. Jonatan Lerga presented AIRI Center at the IEEE Rijeka : Computer Society Congress 2021

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