Experimental validation of control for a positioning stage by feedback error learning

Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper considers precision positioning of a stage. To compensate uncertainties of the stage, feedback error learning (FEL) is employed. In FEL algorithm, parameters of feedback error learning are updated by using an output of a feedback controller. After learning, the feedforward controller with an inverse system of a plant is obtained. To shorten learning time, implementation methods of FEL are proposed. In our methods, free parameters in the feedforward controller are determined by using the inverse system. Furthermore, information on the inverse system is utilized for the learning. Proposed methods are demonstrated by experiments with the stage.

Original languageEnglish
Title of host publication2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
Pages11-16
Number of pages6
Publication statusPublished - 2011
Externally publishedYes
Event2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Zhengzhou, China
Duration: Aug 11 2011Aug 13 2011

Other

Other2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011
CountryChina
CityZhengzhou
Period8/11/118/13/11

Fingerprint

Feedback
Controllers
Learning algorithms
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Nakamura, Y., Morimoto, K., & Wakui, S. (2011). Experimental validation of control for a positioning stage by feedback error learning. In 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program (pp. 11-16). [6024965]

Experimental validation of control for a positioning stage by feedback error learning. / Nakamura, Yukinori; Morimoto, Kazuki; Wakui, Shinji.

2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program. 2011. p. 11-16 6024965.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamura, Y, Morimoto, K & Wakui, S 2011, Experimental validation of control for a positioning stage by feedback error learning. in 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program., 6024965, pp. 11-16, 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011, Zhengzhou, China, 8/11/11.
Nakamura Y, Morimoto K, Wakui S. Experimental validation of control for a positioning stage by feedback error learning. In 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program. 2011. p. 11-16. 6024965
Nakamura, Yukinori ; Morimoto, Kazuki ; Wakui, Shinji. / Experimental validation of control for a positioning stage by feedback error learning. 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program. 2011. pp. 11-16
@inproceedings{b59eb921aff44c52b87e800303daa6b7,
title = "Experimental validation of control for a positioning stage by feedback error learning",
abstract = "This paper considers precision positioning of a stage. To compensate uncertainties of the stage, feedback error learning (FEL) is employed. In FEL algorithm, parameters of feedback error learning are updated by using an output of a feedback controller. After learning, the feedforward controller with an inverse system of a plant is obtained. To shorten learning time, implementation methods of FEL are proposed. In our methods, free parameters in the feedforward controller are determined by using the inverse system. Furthermore, information on the inverse system is utilized for the learning. Proposed methods are demonstrated by experiments with the stage.",
author = "Yukinori Nakamura and Kazuki Morimoto and Shinji Wakui",
year = "2011",
language = "English",
isbn = "9780955529375",
pages = "11--16",
booktitle = "2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program",

}

TY - GEN

T1 - Experimental validation of control for a positioning stage by feedback error learning

AU - Nakamura, Yukinori

AU - Morimoto, Kazuki

AU - Wakui, Shinji

PY - 2011

Y1 - 2011

N2 - This paper considers precision positioning of a stage. To compensate uncertainties of the stage, feedback error learning (FEL) is employed. In FEL algorithm, parameters of feedback error learning are updated by using an output of a feedback controller. After learning, the feedforward controller with an inverse system of a plant is obtained. To shorten learning time, implementation methods of FEL are proposed. In our methods, free parameters in the feedforward controller are determined by using the inverse system. Furthermore, information on the inverse system is utilized for the learning. Proposed methods are demonstrated by experiments with the stage.

AB - This paper considers precision positioning of a stage. To compensate uncertainties of the stage, feedback error learning (FEL) is employed. In FEL algorithm, parameters of feedback error learning are updated by using an output of a feedback controller. After learning, the feedforward controller with an inverse system of a plant is obtained. To shorten learning time, implementation methods of FEL are proposed. In our methods, free parameters in the feedforward controller are determined by using the inverse system. Furthermore, information on the inverse system is utilized for the learning. Proposed methods are demonstrated by experiments with the stage.

UR - http://www.scopus.com/inward/record.url?scp=80053605008&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80053605008&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9780955529375

SP - 11

EP - 16

BT - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program

ER -