A cross-coupled iterative learning control design for precision motion control

IEEE Transactions on Control Systems Technology

Volumn 16, Issue 6, 2008, Pages 1218-1231

  Barton, Kira L ^a   Alleyne, Andrew G ^a  

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

Cross coupled control (CCC); Iterative learning control (ILC); Precision motion control

Indexed keywords

COMPUTATIONAL METHODS; COMPUTER TESTING; EDUCATION; LEARNING ALGORITHMS; LEARNING SYSTEMS; MOTION CONTROL; MOTION PLANNING; ROBOTICS; SYSTEM STABILITY;

CARTESIANS; COMBINED DESIGNS; COMBINED SYSTEMS; CONTOUR TRACKING; CONTROL INPUTS; CONTROL SIGNALS; CROSS-COUPLED CONTROL (CCC); EXPERIMENTAL TESTING; IMPROVED METHODS; ITERATIVE LEARNING CONTROL (ILC); ITERATIVE LEARNING CONTROLS; MONOTONIC CONVERGENCES; PERFORMANCE IMPROVEMENTS; PRECISION MOTION CONTROL; PRECISION MOTION CONTROLS; ROBOTIC SYSTEMS; STABILITY AND CONVERGENCES; TRAJECTORY TRACKING;

TWO TERM CONTROL SYSTEMS;

EID: 55349085062     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.919433     Document Type: Article

References (34)

1. R. W. Longman, "Iterative learning control and repetitive control for engineering practice," Int. J. Control, vol. 73, no. 10, pp. 930-954, 2000.
2. D. Kim and S. Sungkwun, "An iterative learning control method with application for CNC machine tools," IEEE Trans. Ind. Appl., vol. 32, no. 1, pp. 66-72, Jan./Feb. 1996.
3. Y. Koren, "Cross-coupled biaxial computer control for manufacturing systems," J. Dyn. Syst., Meas., Control, vol. 102, pp. 265-272, 1980.
4. H.-Y. Chuang and C.-H. Liu, "Cross-coupled adaptive feedrate control for multiaxis machine tools," J. Dyn. Syst., Meas., Control, vol. 113, pp. 451-457, 1991.
5. S.-S. Yeh and P.-L. Hsu, "A new approach to biaxial cross-coupled control," in Proc. IEEE Int. Conf. Control Appl., 2000, pp. 168-173.
6. Y. L. Tang, G. Robert, and S. N. Balakrishnan, "Hierarchical optimal force-position-contour control of machining processes: Part 1 - Controller methodology," in Proc. Amer. Control Conf., 2005, pp. 4506-4511.
7. Y. L. Tang, G. Robert, and S. N. Balakrishnan, "Hierarchical optimal force-position-contour control of machining processes: Part II - Illustrative example," in Proc. Amer. Control Conf., 2005, pp. 4512-4517.
8. K. Barton and A. Alleyne, "Cross-coupled iterative learning control: Design and implementation," presented at the IMECE, 2006, IMECE2006-15024.
9. D. A. Bristow and A. G. Alleyne, "A high precision motion control system with application to microscale robotic deposition," IEEE Trans. Control Syst. Technol., vol. 16, no. 6, pp. 1008-1020, Nov. 2006.
10. D. de Roover and O. H. Bosgra, "Synthesis of robust multivariable iterative learning controllers with application to a wafer stage motion system," Int. J. Control, vol. 73, no. 10, pp. 968-979, 2000.
11. G. T. C. Chiu and M. Tomizuka, "Contouring control of machine tool feed drive systems: A task coordinate frame approach," IEEE Trans. Control Syst. Technol., pp. 130-139, 2001.
12. K. Srinivasan and P. K. Kulkarni, "Cross-coupled control of biaxial feed drive servomechanisms," J. Dyn. Syst., Meas., Control, vol. 112, pp. 225-232, 1990.
13. S.-S. Yeh and P.-L. Hsu, "Estimation of the contouring error vector for the cross-coupled control design," IEEE/ASME Trans. Mechatron., vol. 7, no. 1, pp. 44-51, Feb. 2002.
14. Y. Koren and C. C. Lo, "Variable-gain cross-coupling controller for contouring," CIRP Annals, vol. 40, pp. 371-374, 1991.
15. Y. S. Tarng, H. Y. Chuang, and W. T. Hsu, "An optimization approach to the contour error control of CNC machine tools using genetic algorithms," Int. J. Adv. Manuf. Technol., vol. 13, pp. 359-366, 1997.
16. D. A. Bristow, M. Tharayil, and A. G. Alleyne, "A survey of iterative learning control," Control Syst. Mag., vol. 26, no. 3, pp. 96-114, 2006.
17. K. L. Moore, Iterative Learning Control for Deterministic Systems. London, U.K.: Springer-Verlag, 1993.
18. ∞ approach to learning control systems," Int. J. Adapt. Control Signal Process., vol. 4, no. 6, pp. 465-474, 1990.
19. M. Norrlof and S. Gunnarsson, "Time and frequency domain convergence properties in iterative learning control," Int. J. Control, vol. 75, no. 14, pp. 1114-1126, 2002.
20. K. L. Moore, M. Dahleh, and S. P. Bhattacharyya, "Iterative learning control: A survey and new results," J. Robot. Syst., vol. 9, no. 5, pp. 563-594, 1992.
21. M. Tomizuka, T.-C. Tsao, and K.-K. Chew, "Analysis and synthesis of discrete-time repetitive controllers," Trans. ASME J. Dyn. Syst., Meas. Control, vol. 111, no. 3, pp. 353-358, 1989.
22. C. J. Goh, "A frequency domain analysis of learning control," Trans. ASME. J. Dyn. Syst., Meas. Control, vol. 116, no. 4, pp. 781-786, 1994.
23. H. K. Khalil, Nonlinear Systems. Englewood Cliffs, NJ: Prentice-Hall, 2002.
24. M. Tharayil and A. Alleyne, "Design and convergence of a time-varying iterative learning control law," ASME Int. Mechan. Eng. Congr. Expo. pp. 91-97, 2004.
25. Y. Chen and K. L. Moore, "An optimal design of PD-type iterative learning control with monotonic convergence," in Proc. IEEE Int. Symp. Intell. Control, 2002, pp. 55-60.
26. Y.-C. Huang and R. W. Longman, "Source of the often observed property of initial convergence followed by divergence in learning and repetitive control," Adv. Astronautical Sci., vol. 90, no. 1, pp. 555-572, 1996.
27. K. K. Tan, S. N. Huang, S. Y. Lee, and S. Y. Lim, "A discrete-time iterative learning algorithm for linear time-varying systems," Eng. Appl. Artif. Intell., vol. 16, pp. 185-190, 2003.
28. J. H. Lee, K. S. Lee, and W. C. Kim, "Model-based iterative learning control with a quadratic criterion for time-varying linear systems," Automatica, vol. 36, no. 5, pp. 641-657, 2000.
29. S. Skogestad and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design. West Sussex, U.K.: Wiley, 1996.
30. K. Barton and A. Alleyne, "Cross-coupled ILC for improved precision motion control: Design and implementation," in Proc. Amer. Control Conf., 2007, pp. 5496-5502.
31. W. S. Yeo and J. Berger, "Application of raster scanning method to image sonification, sound visualization, sound analysis and synthesis," in Proc. 9th Int. Conf. Digit. Audio Effects, 2006, pp. 309-314.
32. I. Masayoshi, S. Heike, and T. Hashizume, "Dot-array resist patterning using scanning probe microscopy with a hybrid current-voltage control method," J. Appl. Phys., vol. 41, pp. 4395-4399, 2002.
33. K. L. Moore, "Iterative learning control: An expository overview," Applied Computational Controls, Signal Process., Circuits, vol. 1, no. 1, pp. 425-488, 1998.
34. Y. Chen and C. Wen, Iterative Learning Control: Convergence, Robustness, and Applications. London, U.K.: Springer, 1999.