Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems

doi:10.1109/JAS.2022.105689

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	Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems
	Chuxiong Hu; Ran Zhou; Ze Wang; Yu Zhu; Masayoshi Tomizuka
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:7 页码:1218-1232
关键词	Precision motion control prediction model real-time iterative compensation trajectory tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105689
英文摘要	With regard to precision/ultra-precision motion systems, it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances. In this paper, to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control (ILC), a novel real-time iterative compensation (RIC) control framework is proposed for precision motion systems without changing the inner closed-loop controller. Specifically, the RIC method can be divided into two parts, i.e., accurate model prediction and real-time iterative compensation. An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times. In light of predicted errors, a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation. Both the prediction and compensation processes are finished in a real-time motion control sampling period. The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions. Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability, which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48899]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Chuxiong Hu,Ran Zhou,Ze Wang,et al. Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(7):1218-1232.
APA	Chuxiong Hu,Ran Zhou,Ze Wang,Yu Zhu,&Masayoshi Tomizuka.(2022).Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems.IEEE/CAA Journal of Automatica Sinica,9(7),1218-1232.
MLA	Chuxiong Hu,et al."Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems".IEEE/CAA Journal of Automatica Sinica 9.7(2022):1218-1232.