In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including iterative learning control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.
K. L. Barton et al., "Design of a Linear Time-Varying Cross-Coupled Iterative Learning Controller," American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jun 2008.
The definitive version is available at http://dx.doi.org/10.1109/ACC.2008.4587104
Mechanical and Aerospace Engineering
Keywords and Phrases
Adaptive Control; Control Engineering Computing; Control System Synthesis; Iterative Methods Learning Systems; Linear Systems; Motion Control; Robots; Time-Varying Systems
Article - Conference proceedings
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