Command-based iterative learning control for compensation of servo lag and friction effects

A command-based iterative learning control (ILC) architecture is proposed to compensate for friction effect and to reduce tracking error caused by servo lag. The proposed methodology utilizes the learning algorithm which updates the input commands based on the tracking errors from the previous machi...

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Bibliographic Details
Published inProceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 957 - 962
Main Authors Meng-Shiun Tsai, Ming-Tzong Lin, Hong-Tzong Yau
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Algorithm design and analysis
Convergence
Error correction
Friction
Iterative algorithms
Machining
Mechanical engineering
Servomechanisms
Servosystems
Transfer functions
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Summary:A command-based iterative learning control (ILC) architecture is proposed to compensate for friction effect and to reduce tracking error caused by servo lag. The proposed methodology utilizes the learning algorithm which updates the input commands based on the tracking errors from the previous machining process. It is shown that, for tracking a circle, the quadrant protrusions caused by friction can be reduced substantially by the updated command containing a concave shape located at the crossing of the zero velocity. Finally, analytical simulation and experimental results demonstrate that the command-based ILC algorithm can enhance the tracking performance significantly
ISBN:0780390474
9780780390478
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2005.1511133