Contour following control of two-axis servomechanism using CMAC and ILC

Wei Liang Kuo, Wei Lin Chen, Ming-Yang Cheng

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

In addition to positioning control, contour following control is also an important application of two-axis servomechanisms such as X-Y tables. Therefore, the reduction of contour following error so as to improve contour following accuracy is one of the important research topics for two-axis servomechanisms. Generally, the assessment of contour following accuracy is based on two error indices - tracking error and contour error. Although the reduction of tracking error can lead to the improvement of contour following accuracy, many previous studies suggest that contour error is a more crucial indicator than tracking error in contour following applications. As a result, this paper aims at developing a control scheme for contour error reduction so as to improve contour following accuracy. The proposed control scheme consists of a PI type feedback controller, a Cerebellar Model Articulation Control (CMAC) algorithm and an Iterative learning Control (ILC) scheme. In particular, the CMAC is combined with the ILC to compensate for the adverse effects due to external disturbance and nonlinear phenomenon. Experimental results verify the effectiveness of the proposed contour following control scheme.

原文English
主出版物標題CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
發行者Institute of Electrical and Electronics Engineers Inc.
頁面132-137
頁數6
ISBN(電子)9781479945849
DOIs
出版狀態Published - 2014 四月 28
事件2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
持續時間: 2014 十一月 262014 十一月 28

出版系列

名字CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Other

Other2014 International Automatic Control Conference, CACS 2014
國家Taiwan
城市Kaohsiung
期間14-11-2614-11-28

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

指紋 深入研究「Contour following control of two-axis servomechanism using CMAC and ILC」主題。共同形成了獨特的指紋。

引用此