Tracking control of a belt-driven position table using Fourier series based learning control scheme

In this paper, we present the application of Fourier series based learning control scheme combined with backlash compensation for tracking control of a belt-driven position table. Because of the flexible structure and a low bandwidth, belt-driven systems are very difficult to control by using conventional methods. We have shown experimentally that the proposed scheme is very effective and easy to be implemented without any knowledge about system structure and parameters. We believe that this method can be applied to other unknown complex systems.