A Cross-Coupled Iterative Learning Control Design for Precision Motion Control
A Cross-Coupled Iterative Learning Control Design for Precision Motion Control
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DOI：
10.1109/tcst.2008.919433
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发表时间：
2008-04
影响因子：
4.8
通讯作者：
K. Barton;A. Alleyne
中科院分区：
文献类型：
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作者：
K. Barton;A. Alleyne
本文提出了一种改进的精密运动控制方法，将单轴迭代学习控制 (ILC) 和交叉耦合 ILC (CCILC) 结合到单个控制输入中。 CCILC 是一种新方法，其中多轴交叉耦合控制器 (CCC) 被重新格式化为单输入单输出 (SISO) ILC 格式。将 ILC 技术应用于 CCC 可以学习交叉耦合误差，从而修改控制信号并随后改进轮廓轨迹跟踪性能。在本文中，通过计算机模拟和笛卡尔机器人系统的实验测试，将 ILC 和 CCILC 组合系统的性能与标准反馈控制进行了比较。提出了组合系统的足够稳定性和收敛特性，以及用于确定计算上具有挑战性的系统的单调收敛性的修改方法。该组合设计可通过提高单轴跟踪和轮廓跟踪的性能来增强机器人系统的精确运动控制。
This paper presents an improved method for precision motion control by combining individual axis iterative learning control (ILC) and cross-coupled ILC (CCILC) into a single control input. CCILC is a new method in which a multi-axis cross-coupled controller (CCC) is reformatted into a single-input single-output (SISO) ILC format. Applying the techniques of ILC to CCC enables learning of the cross-coupled error which leads to a modified control signal and subsequent improvements in the contour trajectory tracking performance. In this paper, performance of the combined ILC and CCILC system is compared to standard feedback control through computer simulations and experimental testing on a Cartesian robotic system. Sufficient stability and convergence properties for the combined system are presented along with a modified approach for determining monotonic convergence of systems that are computationally challenging. The combined design is shown to enhance the precision motion control of the robotic system through performance improvements in individual axis tracking and contour tracking.