Motion system

Compensation (psychology)

Computer science

Motion (physics)

Gene

Astronomy

Quantum mechanics

Motion compensation

Engineering

Biochemistry

Robot

Iterative learning control

Control (management)

Trajectory

Artificial intelligence

Control theory (sociology)

Robustness (evolution)

Psychoanalysis

Psychology

Chemistry

Physics

Control engineering

Motion control

Nonlinear system

IEEE Transactions on Industrial Informatics

For precision motion systems widely applied in industrial manufacturing equipments, it is critical to achieve both high trajectory tracking accuracy and superior disturbance rejection ability. In this article, a novel nonlinearity compensation and high-frequency flexibility suppression based real-time iterative compensation (RIC) method is proposed to achieve excellent tracking performance in practice. The unexpected nonlinearity and high-frequency flexible mode of the plant, which limits the achievable control performance, is first compensated and suppressed. Subsequently, a RIC method based on accurate linear prediction model is proposed to further reduce the tracking error by adding a compensation term to the initial reference trajectory. The trajectory compensation idea of RIC is comparative to remarkable iterative learning control (ILC), but the proposed RIC can online generate and adjust the compensation term during real-time motion without abundant offline iteration trials in ILC. This mechanism signif...

Nonlinearity Compensation and High-Frequency Flexibility Suppression Based RIC Method for Precision Motion Control Systems