Chattering-free Adaptive Iterative Learning Control for Linear-Motor-Driven Gantry Stage With Initial State Errors

Chattering-free Adaptive Iterative Learning Control for Linear-Motor-Driven Gantry Stage With Initial State Errors | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Chattering-free Adaptive Iterative Learning Control for Linear-Motor-Driven Gantry Stage With Initial State Errors Chaohai Yu, Jie Ma, Jue Wang, Huihui Pan This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4532846/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 16 Aug, 2024 Read the published version in Signal, Image and Video Processing → Version 1 posted 7 You are reading this latest preprint version Abstract This paper aims to investigate a chattering-free adaptive iterative learning strategy for trajectory tracking tasks on linear-motor-driven-gantry-stages with initial state errors. The reduction mechanism of the proposed parameter learning law effectively addresses initial state tracking errors, unmodeled system dynamics, and external disturbances during the iterative process. Furthermore, to mitigate the oscillation issues caused by traditional iterative learning control signals, this paper adopts the approximation for the sign function. However, this approximation introduces the non-negative definite problems. Therefore, this paper introduces a novel analysis method based on contraction mapping and composite energy functions in the Lyapunov-like theory. This method rigorously proves the boundedness and convergence during the entire iteration under non-negative definite problems with initial state errors. The effectiveness of the proposed approach is validated through experiments on a linear motor platform. Linear-motor-driven gantry stage Chattering-free Iterative learning control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 16 Aug, 2024 Read the published version in Signal, Image and Video Processing → Version 1 posted Reviews received at journal 16 Jun, 2024 Reviewers agreed at journal 09 Jun, 2024 Reviewers agreed at journal 09 Jun, 2024 Reviewers invited by journal 09 Jun, 2024 Editor assigned by journal 06 Jun, 2024 Submission checks completed at journal 06 Jun, 2024 First submitted to journal 05 Jun, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4532846","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":315634676,"identity":"eb420183-065f-4eaa-8984-9c7bde71cae6","order_by":0,"name":"Chaohai Yu","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Chaohai","middleName":"","lastName":"Yu","suffix":""},{"id":315634678,"identity":"91e335a8-d792-45f0-a88c-cb5e135570cf","order_by":1,"name":"Jie Ma","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Jie","middleName":"","lastName":"Ma","suffix":""},{"id":315634679,"identity":"b9e82e64-9bb0-4f33-9e18-1b8c20dbf467","order_by":2,"name":"Jue Wang","email":"","orcid":"","institution":"University of Science and Technology of China","correspondingAuthor":false,"prefix":"","firstName":"Jue","middleName":"","lastName":"Wang","suffix":""},{"id":315634680,"identity":"053f12eb-64f3-4224-88d4-5f367ce39177","order_by":3,"name":"Huihui Pan","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA2UlEQVRIiWNgGAWjYBACAwbGNhDJwMDew3AASDE2EK+F5wzDgQPEaWFgg7AkchgYiNJiLpHc9pin4I68ueTbg4c/MNjIbjjA/OwBPi2WMxLbjXkMnhnunJ2XAHRYmvGGA2zmBngddiOxTZrH4DDjhts5BkAthxM3HOBhkyBGi/2Gm2dAWv4TryVxww0ekJYDRGg587BNco7Bs+QNZ4AOO2OQbDzzMJsZfi3H059JvPlzx3bD8TPGHyoq7GT7jjc/w6sFCg7ATABiZiLUI2kZBaNgFIyCUYAFAAAB5VMEErsiWgAAAABJRU5ErkJggg==","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Huihui","middleName":"","lastName":"Pan","suffix":""}],"badges":[],"createdAt":"2024-06-05 09:15:17","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4532846/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4532846/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11760-024-03499-1","type":"published","date":"2024-08-16T15:56:59+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":63071420,"identity":"2f744bb1-deb7-41e7-ac50-cb64d987242f","added_by":"auto","created_at":"2024-08-22 20:07:04","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2034262,"visible":true,"origin":"","legend":"","description":"","filename":"sncfilcSIP44.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4532846/v1_covered_8ebd2844-3ef1-4646-947d-913b472c9969.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Chattering-free Adaptive Iterative Learning Control for Linear-Motor-Driven Gantry Stage With Initial State Errors","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"signal-image-and-video-processing","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"sivp","sideBox":"Learn more about [Signal, Image and Video Processing](http://link.springer.com/journal/11760)","snPcode":"11760","submissionUrl":"https://submission.nature.com/new-submission/11760/3","title":"Signal, Image and Video Processing","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Linear-motor-driven gantry stage, Chattering-free, Iterative learning control","lastPublishedDoi":"10.21203/rs.3.rs-4532846/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4532846/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper aims to investigate a chattering-free adaptive iterative learning strategy for trajectory tracking tasks on linear-motor-driven-gantry-stages with initial state errors. 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