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

Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach
Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach
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.
140-145
Owens, D H
db24b8ef-282b-47c0-9cd2-75e91d312ad7
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Owens, D H
db24b8ef-282b-47c0-9cd2-75e91d312ad7
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f

Owens, D H, Freeman, C T and Chu, Bing (2013) Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach. IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2013, Caen, France. 03 - 05 Jul 2013. pp. 140-145 .

Record type: Conference or Workshop Item (Paper)

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.

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More information

Published date: 3 July 2013
Venue - Dates: IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2013, Caen, France, 2013-07-03 - 2013-07-05
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 344300
URI: http://eprints.soton.ac.uk/id/eprint/344300
PURE UUID: f29dda27-a50f-42e1-8126-45d147912ac3
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 16 Oct 2012 23:29
Last modified: 18 Oct 2022 01:43

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Contributors

Author: D H Owens
Author: C T Freeman
Author: Bing Chu ORCID iD

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