{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T09:19:24Z","timestamp":1763543964137,"version":"3.38.0"},"reference-count":28,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2017,4,3]],"date-time":"2017-04-03T00:00:00Z","timestamp":1491177600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51375349"],"award-info":[{"award-number":["51375349"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2018,4]]},"abstract":"<jats:p> In this paper, a position domain cross-coupled iterative learning controller combining proportional\u2013integral\u2013derivative\u2009(PID)-type iterative learning control (ILC) and proportional\u2013derivative\u2009(PD)-type cross-coupling control (CCC) is presented aiming at non-linear contour tracking in multi-axis motion systems. Traditional individual control methods in the time domain suffer from poor synchronization of relevant motion axes. The complicated computation of coupling gains in CCC and cross-coupled ILC (CCILC) restricts their applications for non-linear contour. The proposed position domain CCILC (PDCCILC) approach introduces a position domain design concept into CCILC to improve synchronization and performance for non-linear contour tracking and it relies less on the accuracy of coupling gains than conventional CCILC. The stability and performance analysis are conducted using a lifted system representation. The contour error vector method is applied to estimate the coupling gains in simulations and experiments. Simulation and experimental results of three typical non-linear contour tracking cases (i.e. semi-circle, parabola and spiral) based on a two-axis micro-motion stage demonstrate superiority and efficacy of the proposed feedback PID and feedforward PDCCILC compared with existing ILC and CCILC in the time domain. <\/jats:p>","DOI":"10.1177\/0142331217695386","type":"journal-article","created":{"date-parts":[[2017,4,3]],"date-time":"2017-04-03T14:23:17Z","timestamp":1491229397000},"page":"1970-1982","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":18,"title":["Non-linear contour tracking using feedback PID and feedforward position domain cross-coupled iterative learning control"],"prefix":"10.1177","volume":"40","author":[{"given":"Jie","family":"Ling","sequence":"first","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei, China"}]},{"given":"Zhao","family":"Feng","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei, China"}]},{"given":"Daojin","family":"Yao","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei, China"}]},{"given":"Xiaohui","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei, China"}]}],"member":"179","published-online":{"date-parts":[[2017,4,3]]},"reference":[{"key":"bibr1-0142331217695386","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905759"},{"key":"bibr2-0142331217695386","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2005.847331"},{"key":"bibr3-0142331217695386","doi-asserted-by":"publisher","DOI":"10.1109\/TNANO.2007.910333"},{"key":"bibr4-0142331217695386","first-page":"5496","volume-title":"The 2007 American Control 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