Increasing demand for high precision positioning systems has motivated significant research in this field. Within this field, dual-stage nanopositioning systems have the unique potential to offer high-speed and long-range positioning by coupling a short-range, high-speed actuator with a long-range, low-speed actuator. In this paper, design considerations for a spatial filter are presented. The spatial filter allows for control allocation based on range of the signal as opposed to more commonly used frequency-based control allocation. In order to understand the spatial filtering approach more fully, this paper analyzes the filter in detail to understand limitations and give the user a more clear understanding of the approach. Simulation results are included to illustrate aspects of the discussion.
- Dynamic Systems and Control Division
Spatial Filter Design for Dual-Stage Systems
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Mitrovic, A, Leang, KK, & Clayton, GM. "Spatial Filter Design for Dual-Stage Systems." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T04A010. ASME. https://doi.org/10.1115/DSCC2017-5347
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