Design of a linear time-varying cross-coupled iterative learning controller

Kira L. Barton, Douglas A. Bristow, Andrew G. Alleyne

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

1 Scopus citations


In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages7
StatePublished - 2008
Externally publishedYes
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA


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