Browsing by Subject "Cross-coupled control"

Filter results by typing the first few letters
Now showing 1 - 1 of 1
  • Thumbnail Image
    ItemOpen Access
    Design and analysis of a modular learning based cross-coupled control algorithm for multi-axis precision positioning systems
    (Institute of Control, Robotics and Systems, 2016) Ulu, N. G.; Ulu E.; Cakmakci, M.
    Increasing demand for micro/nano-technology related equipment resulted in growing interest for precision positioning systems. In this paper a modular controller combining cross-coupled control and iterative learning control approaches to improve contour and tracking accuracy at the same time is presented. Instead of using the standard error estimation technique, a computationally efficient and modular contour error estimation technique is used. The new controller is more suitable for tracking arbitrary nonlinear contours and easier to implement to multi-axis systems. Stability and convergence analysis for the proposed controller is presented with the necessary conditions. Effectiveness of the control design is verified with simulations and experiments on a two-axis positioning system. The resulting positioning system achieves nanometer level contouring and tracking performance. © 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.