P-type iterative learning control for systems that contain resonance
P-type iterative learning control for systems that contain resonance
The effect of iterative learning control (ILC) on a plant containing resonance has been experimentally investigated using an industrial gantry robot. The plant is controlled by a PID controller and a P-type learning controller in a parallel configuration. It is demonstrated that the learning controller can cause the amplitude of resonant frequencies to grow at each trial, leading to instability. The reasons for this growth are analysed both theoretically and experimentally. In order to solve the problem with a resonance, a straightforward aliasing technique is developed which is experimentally shown to suppress the increase of resonant amplitudes. The novel aliasing technique is compared with three filtering methods, the aliasing technique giving the best experimental performance. Finally, it is found that additional velocity feedback combined with the aliasing technique can further help to limit the effect of residual resonance. Due to the straightforward implementation of these algorithms, they should be highly applicable to industrial systems.
769-796
Ratcliffe, J D
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Hatonen, J J
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Lewin, P L
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Rogers, E
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Harte, T J
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Owens, D H
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December 2005
Ratcliffe, J D
4c80c556-9fb0-404d-8f73-6401981a7581
Hatonen, J J
b4855c75-456e-4bcd-9d0d-918865af837e
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Harte, T J
39690126-7976-44ca-883e-a4c89a7d9026
Owens, D H
db24b8ef-282b-47c0-9cd2-75e91d312ad7
Ratcliffe, J D, Hatonen, J J, Lewin, P L, Rogers, E, Harte, T J and Owens, D H
(2005)
P-type iterative learning control for systems that contain resonance.
International Journal of Adaptive Control and Signal Processing, 19 (10), .
Abstract
The effect of iterative learning control (ILC) on a plant containing resonance has been experimentally investigated using an industrial gantry robot. The plant is controlled by a PID controller and a P-type learning controller in a parallel configuration. It is demonstrated that the learning controller can cause the amplitude of resonant frequencies to grow at each trial, leading to instability. The reasons for this growth are analysed both theoretically and experimentally. In order to solve the problem with a resonance, a straightforward aliasing technique is developed which is experimentally shown to suppress the increase of resonant amplitudes. The novel aliasing technique is compared with three filtering methods, the aliasing technique giving the best experimental performance. Finally, it is found that additional velocity feedback combined with the aliasing technique can further help to limit the effect of residual resonance. Due to the straightforward implementation of these algorithms, they should be highly applicable to industrial systems.
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Published date: December 2005
Additional Information:
Commentary On: Wiley InterScience
Organisations:
EEE, Southampton Wireless Group
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Local EPrints ID: 261607
URI: http://eprints.soton.ac.uk/id/eprint/261607
ISSN: 0890-6327
PURE UUID: 6d6402ef-7840-48c1-85e4-8d1e4020ec1a
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Date deposited: 28 Nov 2005
Last modified: 15 Mar 2024 02:43
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Author:
J D Ratcliffe
Author:
J J Hatonen
Author:
P L Lewin
Author:
E Rogers
Author:
T J Harte
Author:
D H Owens
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