Stage positioning based on improved feedback error learning and its experimental verification

Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

In this paper, the position control of a linear stage is considered. To improve the settling time of the positioning, the parameters of the feedforward controller are automatically tuned by using feedback error learning (FEL). In the proposed FEL, true value of the estimated parameters is small, and the number of the estimated parameters is reduced. It leads to the improvement of the learning time. Moreover, to compensate for effects of non-parallel guide rails, the disturbance observer is also utilised. By using the observer, the performance of the positioning can be maintained regardless of the initial position of the stage. Experimental results show the effectiveness of our control method.

Original languageEnglish
Pages (from-to)67-75
Number of pages9
JournalInternational Journal of Advanced Mechatronic Systems
Volume4
Issue number2
DOIs
Publication statusPublished - Jan 1 2012
Externally publishedYes

Keywords

  • FEL
  • Feedback error learning
  • Linear stage
  • Rolling guide rails

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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