Multi-Axis Motion Control Based on Time-Varying Norm Optimal Cross-Coupled Iterative Learning

Wan Xu; Jie Hou; Jie Li; Cong Yuan; Alessandro Simeone

doi:10.1109/ACCESS.2020.3007422

IEEE Access (Jan 2020)

Multi-Axis Motion Control Based on Time-Varying Norm Optimal Cross-Coupled Iterative Learning

Wan Xu,
Jie Hou,
Jie Li,
Cong Yuan,
Alessandro Simeone

Affiliations

Wan Xu: ORCiD; School of Mechanical Engineering, Hubei University of Technology, Wuhan, China
Jie Hou: School of Mechanical Engineering, Hubei University of Technology, Wuhan, China
Jie Li: College of Mechanical Engineering, Donghua University, Shanghai, China
Cong Yuan: School of Mechanical Engineering, Hubei University of Technology, Wuhan, China
Alessandro Simeone: College of Engineering, Shantou University, Shantou, China

DOI: https://doi.org/10.1109/ACCESS.2020.3007422
Journal volume & issue: Vol. 8
pp. 124802 – 124811

Abstract

Read online

In the process of multi-axis contour tracking control, the traditional time-invariant method could lead to a significant error in contour tracking due to the existence of two different motion conditions, namely single-axis independent motion and multi-axis coupled motion. In order to tackle this issue, a time-varying weighting matrix has been developed considering the trajectory and time-varying random disturbance. In this paper, a time-varying control method for multi-axis motion based on norm optimal cross-coupling iterative learning is proposed. Compared to the time-invariant control method, the simulation and experiment results demonstrate that the proposed method can effectively reduce the contour error improving the multi-axis control precision.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

About the journal

Abstract

Keywords