A cross-coupled iterative learning control design for precision motion control

Kira L. Barton, Andrew G. Alleyne

Research output: Contribution to journalArticlepeer-review

206 Scopus citations


This paper presents an improved method for precision motion control by combining individual axis iterative learning control (ILC) and cross-coupled ILC (CCILC) into a single control input. CCILC is a new method in which a multi-axis cross-coupled controller (CCC) is reformatted into a single-input single-output (SISO) ILC format. Applying the techniques of ILC to CCC enables learning of the cross-coupled error which leads to a modified control signal and subsequent improvements in the contour trajectory tracking performance. In this paper, performance of the combined ILC and CCILC system is compared to standard feedback control through computer simulations and experimental testing on a Cartesian robotic system. Sufficient stability and convergence properties for the combined system are presented along with a modified approach for determining monotonic convergence of systems that are computationally challenging. The combined design is shown to enhance the precision motion control of the robotic system through performance improvements in individual axis tracking and contour tracking.

Original languageEnglish (US)
Pages (from-to)1218-1231
Number of pages14
JournalIEEE Transactions on Control Systems Technology
Issue number6
StatePublished - 2008
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received June 29, 2007; revised December 9, 2007. Manuscript received in final form January 17, 2008. First published June 10, 2008; current version published October 22, 2008. Recommended by Associate Editor R. Landers. This work was supported by the National Science Foundation Nano-CEMMS Center under Award DMI 0328162.


  • Cross-coupled control (CCC)
  • Iterative learning control (ILC)
  • Precision motion control


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