P-type iterative learning control for systems that contain resonance


Ratcliffe, J D, Hatonen, J J, Lewin, P L, Rogers, E, Harte, T J and Owens, D H (2005) P-type iterative learning control for systems that contain resonance. International Journal of Adaptive Control and Signal Processing, 19, (10), 769-796.

Download

[img] PDF
Restricted to Registered users only

Download (551Kb) | Request a copy

Description/Abstract

The effect of iterative learning control (ILC) on a plant containing resonance has been experimentally investigated using an industrial gantry robot. The plant is controlled by a PID controller and a P-type learning controller in a parallel configuration. It is demonstrated that the learning controller can cause the amplitude of resonant frequencies to grow at each trial, leading to instability. The reasons for this growth are analysed both theoretically and experimentally. In order to solve the problem with a resonance, a straightforward aliasing technique is developed which is experimentally shown to suppress the increase of resonant amplitudes. The novel aliasing technique is compared with three filtering methods, the aliasing technique giving the best experimental performance. Finally, it is found that additional velocity feedback combined with the aliasing technique can further help to limit the effect of residual resonance. Due to the straightforward implementation of these algorithms, they should be highly applicable to industrial systems.

Item Type: Article
Additional Information: Commentary On: Wiley InterScience
ISSNs: 1099-1115
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control
Faculty of Physical Sciences and Engineering > Electronics and Computer Science > EEE
ePrint ID: 261607
Date Deposited: 28 Nov 2005
Last Modified: 27 Mar 2014 20:04
Further Information:Google Scholar
ISI Citation Count:20
URI: http://eprints.soton.ac.uk/id/eprint/261607

Actions (login required)

View Item View Item

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics