A Cross-Coupled Iterative Learning Control Design for Precision Motion Control

摘要: This paper presents an improved method for precision motion control by combining individual axis iterative learning (ILC) and cross-coupled ILC (CCILC) into a single input. CCILC is new in which multi-axis controller (CCC) reformatted single-input single-output (SISO) format. Applying the techniques of to CCC enables error leads modified signal subsequent improvements contour trajectory tracking performance. In this paper, performance combined system compared standard feedback through computer simulations experimental testing on Cartesian robotic system. Sufficient stability convergence properties are presented along with approach determining monotonic systems that computationally challenging. The design shown enhance tracking.