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 and Applied Science > Electronics and Computer Science > Comms, Signal Processing & Control Faculty of Physical and Applied Science > Electronics and Computer Science > EEE |
| Item ID: | 344300 |
| Date Deposited: | 16 Oct 2012 23:29 |
| Last Modified: | 16 Oct 2012 23:29 |
| Contributors: | Owens, D H (Author) Freeman, C T (Author) Chu, Bing (Author) |
| Date: | 3 July 2013 |
| Status: | Unpublished |
| Further Information: | Google Scholar |
| URI: | http://eprints.soton.ac.uk/id/eprint/344300 |
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