Design and control of high tech systems

摘要

Advanced motion systems like pick-and-place machines used in the semiconductor industry challenge the frontiers of mechatronic design, systems and control theory and practice. In the design phase, control oriented design of the electro-mechanics is necessary in order to achieve the tight performance specifications. Once realized, and since experimentation is fast, a machine in the loop procedure can be explored to close the design loop from experiment, experimental model building, model based control design, implementation and performance evaluation. Nevertheless, reliable numerical tools are required to meet the challenges posed with respect to dimensionality and model complexity. Extension of linear modeling techniques towards some classes of nonlinear systems is relevant for improved control of specific motion systems, such as with friction. Finally, medical robotics can greatly benefit from the experiences in high tech motion systems, and an eye surgical robot with haptics will be shown as an example. Other challenging applications in need for advanced design, modeling and control are fuel-efficient vehicles, including ultra-clean engines, vehicle electric and hybrid power trains, and control of plasma fusion.