Iterative reference adjustment for high-precision and repetitive motion control applications

A learning control scheme is proposed which is suitable for high-precision and repetitive motion control applications. It comprises of a self-tuning radial basis function (RBF) network operating in parallel with an iterative learning control (ILC) component. Unlike the usual ILC scheme which adapts a feedforward control signal to achieve improved tracking performance over time, the proposed scheme iteratively adjusts the reference signal. The...