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 - 2011/10/12
Y1 - 2011/10/12
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.
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M3 - Conference contribution
AN - SCOPUS:80053605008
SN - 9780955529375
T3 - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
SP - 11
EP - 16
BT - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
T2 - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011
Y2 - 11 August 2011 through 13 August 2011
ER -