Driven by the continuing demands of higher throughput and better quality in the electronics industry, motion requirement of mechanical components is becoming increasingly stringent in terms of speed and precision. At such performance regimes, mechanical vibration, electrical saturation, and system nonlinearity become the main bottlenecks. Based on the academic/industry collaboration initiated by the PI's, a promising input iteration approach has been proposed to take these issues into account, instead of the traditional input shaping approach, which is only effective for linear systems with a small number of resonant modes. This research will address the convergence, performance, and robustness of the iterative refinement algorithm, enhance its effectiveness by including on-line optimization and general trajectory tracking, validate and demonstrate the results experimentally on several precision motion testbeds, and implement on industrial electronic packaging machines. Because of the presence of motion control in applications small and large, including MEMS actuation, micro-manufacturing, disk drives, and machine tools, it is anticipated that the algorithms disseminated based on this research will have broad applicability to diverse manufacturing industries. In addition, the precision motion testbeds developed for this research will be used in undergraduate control courses to aide teaching of modeling and control design of high performance motion systems.
