Design and analysis of a modular learning based cross-coupled control algorithm for multi-axis precision positioning systems

  • Nurcan Gecer Ulu
  • Erva Ulu
  • Melih CakmakciEmail author


Increasing demand for micro/nano-technology related equipment resulted in growing interest for precision positioning systems. In this paper a modular controller combining cross-coupled control and iterative learning control approaches to improve contour and tracking accuracy at the same time is presented. Instead of using the standard error estimation technique, a computationally efficient and modular contour error estimation technique is used. The new controller is more suitable for tracking arbitrary nonlinear contours and easier to implement to multi-axis systems. Stability and convergence analysis for the proposed controller is presented with the necessary conditions. Effectiveness of the control design is verified with simulations and experiments on a two-axis positioning system. The resulting positioning system achieves nanometer level contouring and tracking performance.


Cross-coupled control iterative learning mechatronic modularity nano-positioning 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringBilkent UniversityAnkaraTurkey

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