Tracking Error Reduction of Biaxial Motion Control Systems-An ILC-CMAC Approach

Wei Liang Kuo, Ming Yang Cheng, Wei Che Tsai

Research output: Contribution to journalArticlepeer-review


Reduction of tracking error is one of the most important issues in contour following of bi-axial motion control systems. In general, contour following accuracy is affected by system nonlinearities and external disturbances. In order to reduce tracking error so as to improve contour following accuracy, developing a motion control scheme that can exhibit excellent tracking performance is essential. As a result, this paper proposes a motion control scheme that combines a Cerebellar Model Articulation Controller (CMAC) with an Iterative Learning Control (ILC) scheme. In particular, CMAC acts as a feedforward compensator to cope with system nonlinearity such as friction, while ILC is used in the feedback loop to suppress periodic disturbance. Several bi-axial contour following experiments have been conducted to verify the feasibility of the proposed motion control approach. Experimental results indicate that the proposed approach outperforms the existing control schemes also tested in the experiment.

Original languageEnglish
Pages (from-to)13-22
Number of pages10
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Issue number1
Publication statusPublished - 2017 Feb 1

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


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