Predictive iterative learning control with experimental validation
Predictive iterative learning control with experimental validation
This paper develops an iterative learning control law that exploits recent results in the area of predictive repetitive control where a priori information about the characteristics of the reference signal is embedded in the control law using the internal model principle. The control law is based on receding horizon control and Laguerre functions can be used to parameterize the future control trajectory if required. Error convergence of the resulting controlled system is analyzed. To evaluate the performance of the design, including comparative aspects, simulation results from a chemical process control problem and supporting experimental results from application to a robot with two inputs and two outputs are given.
24-34
Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
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August 2016
Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Liuping, Freeman, Christopher T. and Rogers, Eric
(2016)
Predictive iterative learning control with experimental validation.
Control Engineering Practice, 53, .
(doi:10.1016/j.conengprac.2016.04.001).
Abstract
This paper develops an iterative learning control law that exploits recent results in the area of predictive repetitive control where a priori information about the characteristics of the reference signal is embedded in the control law using the internal model principle. The control law is based on receding horizon control and Laguerre functions can be used to parameterize the future control trajectory if required. Error convergence of the resulting controlled system is analyzed. To evaluate the performance of the design, including comparative aspects, simulation results from a chemical process control problem and supporting experimental results from application to a robot with two inputs and two outputs are given.
Text
cepliuf_CF.pdf
- Accepted Manuscript
More information
Accepted/In Press date: 4 April 2016
e-pub ahead of print date: 11 May 2016
Published date: August 2016
Organisations:
Vision, Learning and Control
Identifiers
Local EPrints ID: 390798
URI: http://eprints.soton.ac.uk/id/eprint/390798
ISSN: 0967-0661
PURE UUID: 0bb088be-fb16-49ee-b6bf-90058240a29c
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Date deposited: 04 Apr 2016 18:32
Last modified: 15 Mar 2024 05:28
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Contributors
Author:
Liuping Wang
Author:
Christopher T. Freeman
Author:
Eric Rogers
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