Robust Iterative Learning Control of Dual-Driven Crossbeam System

Dual-drive crossbeam system has been an significant part of high-end equipment, whose synchronous accuracy and robustness determine the performance if equipment. Thus, a robust iterative learning control method is proposed, which is based on the cross-coupling model. Robust term is to deal with the non-repetitive disturbance and iterative learning term is to compensate the unknown dynamics by repeating the same task. Finally, different control methods are conducted to verify the effectiveness of the proposed method.