Trajectory optimization and positioning control for batch process using learning control

Efficiency and accuracy are critical in the motion control of a batch process. This paper proposes a new intelligent motion control method for a batch process based on reinforcement learning (RL) and iterative learning control (ILC). The proposed learning-based motion control method enables the system to learn from its previous experience. The motion control method can be divided into two parts: (1) RL-based trajectory optimization and (2) ILC-based positioning control. Experiments were conducted to demonstrate the effectiveness of the proposed method. The results indicate that the proposed method not only reduces the process time effectively while ensuring system stability, but also achieves excellent positioning accuracy.