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Iterative learning control for multiple point-to-point tracking

Iterative learning control for multiple point-to-point tracking
Iterative learning control for multiple point-to-point tracking
A framework is developed which enables a general class of linear Iterative Learning Control (ILC) algorithms to be applied to tracking tasks which require the plant output to reach given points at predetermined time instants, without the need for intervening reference points to be stipulated. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original class of ILC algorithm to track a prescribed arbitrary reference trajectory satisfying the point-to-point position constraints.
3288-3293
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Freeman, Christopher, Cai, Zhonglun, Lewin, Paul and Rogers, Eric (2009) Iterative learning control for multiple point-to-point tracking. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, , Shanghai, China. 16 - 18 Dec 2009. pp. 3288-3293 . (Submitted)

Record type: Conference or Workshop Item (Paper)

Abstract

A framework is developed which enables a general class of linear Iterative Learning Control (ILC) algorithms to be applied to tracking tasks which require the plant output to reach given points at predetermined time instants, without the need for intervening reference points to be stipulated. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original class of ILC algorithm to track a prescribed arbitrary reference trajectory satisfying the point-to-point position constraints.

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More information

Submitted date: 23 February 2009
Venue - Dates: Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, , Shanghai, China, 2009-12-16 - 2009-12-18

Identifiers

Local EPrints ID: 267138
URI: http://eprints.soton.ac.uk/id/eprint/267138
PURE UUID: 27e4baa7-d680-4ebe-8382-c51670f9c7e9
ORCID for Paul Lewin: ORCID iD orcid.org/0000-0002-3299-2556
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 23 Feb 2009 16:51
Last modified: 15 Mar 2024 02:43

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Contributors

Author: Christopher Freeman
Author: Zhonglun Cai
Author: Paul Lewin ORCID iD
Author: Eric Rogers ORCID iD

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