실험적 진화 프로그래밍을 이용한 초정밀 위치 제어

High-Precision Controller Design Using Evolutionary Programming

Conventional linear control fails to provide precise positioning of a control object under the influence of friction, deadzone, saturation, etc. This paper proposes a high-precision control scheme for a precise point-to-point positioning system, called an X-Y table, even under the same influences above. The proposed scheme is composed of a fuzzy precompensator and a PD controller. The fuzzy precompensator is employed to improve the performance of the PD controller. Its fuzzy rules are obtained from experimental evolutionary programming (EP), not from an expert. The effectiveness of the scheme is demonstrated by experiments on the X-Y table. with a positioning error of within 1$\mu\textrm{m}$.