Cross-Coupled ILC for Improved Precision Motion Control: Design and Implementation

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 [1]. CCILC is a new method in which a multiaxis cross-coupled controller (CCC) is reformatted into a single-input single-output (SISO) ILC approach. 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 existing control systems through computer simulations and experimental testing on a microscale robotic deposition (mu-RD) system [2]. 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 mu-RD system through performance improvements in individual axis tracking and contour tracking.

[1]  Okko H. Bosgra,et al.  Synthesis of robust multivariable iterative learning controllers with application to a wafer stage motion system , 2000 .

[2]  Kevin L. Moore,et al.  Iterative learning control: A survey and new results , 1992, J. Field Robotics.

[3]  Andrew G. Alleyne,et al.  A manufacturing system for microscale robotic deposition , 2003, Proceedings of the 2003 American Control Conference, 2003..

[4]  Yoram Koren,et al.  Variable-Gain Cross-Coupling Controller for Contouring , 1991 .

[5]  Pau-Lo Hsu,et al.  Estimation of the contouring error vector for the cross-coupled control design , 2002 .

[6]  Michael J. Grimble,et al.  Iterative Learning Control for Deterministic Systems , 1992 .

[7]  Andrew G. Alleyne,et al.  Cross-Coupled Iterative Learning Control for Manufacturing Applications: Design and Implementation , 2006 .

[8]  Chang-Huan Liu,et al.  Cross-Coupled Adaptive Feedrate Control for Multiaxis Machine Tools , 1991 .

[9]  A.G. Alleyne,et al.  A survey of iterative learning control , 2006, IEEE Control Systems.

[10]  Dong-Il Kim,et al.  An iterative learning control method with application for CNC machine tools , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[11]  Ian Postlethwaite,et al.  Multivariable Feedback Control: Analysis and Design , 1996 .

[12]  Svante Gunnarsson,et al.  Time and frequency domain convergence properties in iterative learning control , 2002 .

[13]  Yoram Koren,et al.  Cross-Coupled Biaxial Computer Control for Manufacturing Systems , 1980 .

[14]  Jay H. Lee,et al.  Model-based iterative learning control with a quadratic criterion for time-varying linear systems , 2000, Autom..

[15]  Richard W. Longman,et al.  Iterative learning control and repetitive control for engineering practice , 2000 .

[16]  Kok Kiong Tan,et al.  A discrete-time iterative learning algorithm for linear time-varying systems , 2003 .

[17]  Masayoshi Tomizuka,et al.  Contouring control of machine tool feed drive systems: a task coordinate frame approach , 2001, IEEE Trans. Control. Syst. Technol..

[18]  Renjeng Su,et al.  An H∞ approach to learning control systems , 1990 .

[19]  K. Srinivasan,et al.  Cross-Coupled Control of Biaxial Feed Drive Servomechanisms , 1990 .