Abstract—Biaxial motion stages are commonly used in precision motion applications. However, the contour following accuracy of a biaxial motion stage often suffers from system nonlinearities and external disturbances. To deal with the above-mentioned problem, a control scheme consisting of a reinforcement Q-learning controller with a self-tuning learning rate and two iterative learning controllers is proposed in this paper. In particular, the reinforcement Q-learning controller is used to compensate for friction and also cope with the problem of dynamics mismatch between different axes. In addition, one of the two iterative learning controllers is used to suppress periodic external disturbances, while the other one is employed to adjust the learning rate of the reinforcement Q-learning controller. Results of contour following experiments indicate that the proposed approach is feasible.
Keywords—Reinforcement Learning, Q-Learning, Iterative Learning Control (ILC), Contour Following.
AD Publications is a rapidly growing academic publisher in the fields of Engineering, Medical-Health, Environmental Science and Agriculture Research. AD Publications is a registered organization broad-based open access and publishes most exciting researches with respect to the subjects of our journals. The Journals is being indexed and abstracted by all major global current awareness and alerting services.
The organization aims at undertaking, co- coordinating and promoting research and development. It provides professional and academic guidance in the field of basic education, Higher Education as well in the Technical Education. Our Aims is to Promote and support, High Quality basic, Scientific Research and development in fields of Engineering, Medical-Health, Environmental Science and Agriculture Research and to Generate Public awareness, provide advice to scholar’s researchers and communicate research outcomes.