Hybrid force-position control of X-Y table based on iterative learning control

When a controlled object performs the same task repeatedly, an iterative learning controller can enhance the performance of the system significantly. The iterative learning control, however, has not been studied in the force control as extensively as in the position control. So, a kind of iterative learning control algorithm is given based on confirming comparative degree of X-Y table system, and it is applied to the force control sub-space. Fuzzy control is used in confirming the parameter Gamma. Matlab is used to test the hybrid force/position control based on iterative learning. The results of simulation show that the proposed control method obviously improve the self-adaptivity and robustness of the system.