A Novel Design Framework for Point-to-Point ILC Using Successive Projection
A Novel Design Framework for Point-to-Point ILC Using Successive Projection
A novel design approach is proposed for point-to-point iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the requirement for high-performance tracking. It is shown that point-to-point ILC design can be formulated and solved using a successive projection first proposed by J. von Neumann, allowing a number of new point-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with different convergence and computational properties for the constrained point-to-point ILC design problem. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.
1156-1163
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Owens, D.H.
db24b8ef-282b-47c0-9cd2-75e91d312ad7
1 May 2015
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Owens, D.H.
db24b8ef-282b-47c0-9cd2-75e91d312ad7
Chu, B., Freeman, C. T. and Owens, D.H.
(2015)
A Novel Design Framework for Point-to-Point ILC Using Successive Projection.
IEEE Transactions on Control Systems Technology, 23 (3), .
Abstract
A novel design approach is proposed for point-to-point iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the requirement for high-performance tracking. It is shown that point-to-point ILC design can be formulated and solved using a successive projection first proposed by J. von Neumann, allowing a number of new point-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with different convergence and computational properties for the constrained point-to-point ILC design problem. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.
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Published date: 1 May 2015
Organisations:
Vision, Learning and Control, EEE
Identifiers
Local EPrints ID: 377144
URI: http://eprints.soton.ac.uk/id/eprint/377144
ISSN: 1063-6536
PURE UUID: 8321b9bb-514b-44d7-91ae-c2b077bbf34f
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Date deposited: 15 May 2015 13:25
Last modified: 15 Mar 2024 03:42
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Contributors
Author:
B. Chu
Author:
C. T. Freeman
Author:
D.H. Owens
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