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
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:7 页码:1218-1232
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.
关键词	Precision motion control prediction model real-time iterative compensation trajectory tracking
DOI	10.1109/JAS.2022.105689
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/48899
专题	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.

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