A Position Domain Cross-Coupled Iteration Learning Control for Contour Tracking in Multi-axis Precision Motion Control Systems

摘要

A novel cross-coupled iteration learning controller in position domain is presented to improve contour tracking performance for multi-axis micro systems executing repetitive tasks. The position domain iteration learning control (PDILC) is combined with position domain cross-coupled control (PDCCC) to develop a position domain cross-coupled iteration learning control (PDCCILC). The stability and performance analysis are given based on lifted system representation in time domain. To illustrate effectiveness and good tracking performance of the proposed control method, simulation studies are conducted based on an identified model of a three dimensional micro-motion stage.