HyPerMotion: Hybrid Control for Performance Improvement of Linear Motion Systems

In the HyPerMotion project, we propose a new perspective on high performance control of linear motion systems by exploiting hybrid controllers. The use of hybrid feedback control can enable substantial improvements in speed and accuracy of industrial motion systems such as wafer scanners, optical disc drives, electron microscopes, pick-and-place machines etc.

PhD Candidate: Bas van Loon
Supervisor: prof. dr. ir. W.P.M.H. Heemels  
Promotor: prof. dr. ir. W.P.M.H. Heemels
Project Financing: STW
Project Period: November 2011 – November 2015

The ever increasing performance demands on the speed and accuracy of motion systems require essential innovations. Whereas the design of the mechanics and electronics of these high-tech systems is highly optimized, the implemented control designs generally rely on classical linear control theory, which hampers the necessary improvements; see Fig. 1 in which the well-known waterbed effect is illustrated. To meet the increasing performance demands, the limitations present in the classical linear feedback design have to be overcome. This goal is central to the HyPerMotion project, which is a joint project between the Control Systems Technology group and Dynamics and Control group, and proposes a paradigm shift to hybrid feedback with the aim to alleviate these limitations. To enable this paradigm shift, we focus on hybrid controllers for linear motion systems, such as reset controllers, variable gain controllers, split-path-nonlinear controllers, switching controllers etc. This because the design of nonlinear/hybrid controllers outperforming linear controllers remains to be an important and challenging problem of high industrial relevance.