Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach


Owens, D H, Freeman, C T and Chu, Bing (2013) Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach. In, IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2013, 03 - 05 Jul 2013.

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Description/Abstract

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously minimizing a quadratic cost function. Motivated by practical problems in automation and control, this enables point-to-point motion tasks to be performed whilst reducing effects such as payload spillage, vibration tendencies and actuator wear. Solutions combine feedforward and feedback actions, and are experimentally tested using a robotic arm.

Item Type: Conference or Workshop Item (Paper)
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: 344300
Date Deposited: 16 Oct 2012 23:29
Last Modified: 27 Mar 2014 20:26
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/344300

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