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Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications

Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications
Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications
This paper is concerned with the practical implementation of the norm-optimal iterative learning control (NOILC) algorithm. Here, the complexity of this algorithm is first considered with respect to real-time control applications, and a new modified version, fast norm-optimal ILC (F-NOILC), is derived for this application, which potentially allows implementation with a sampling rate three times faster that the original algorithm. A performance index is used to assess the experimental results obtained from applying F-NOILC to an industrial gantry robot system and, in particular, the effects of varying the parameters in the cost function, which is at the heart of the norm-optimal approach.
1303-1307
Ratcliffe, J D
4c80c556-9fb0-404d-8f73-6401981a7581
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Hatonen, J J
b4855c75-456e-4bcd-9d0d-918865af837e
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6
Ratcliffe, J D
4c80c556-9fb0-404d-8f73-6401981a7581
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Hatonen, J J
b4855c75-456e-4bcd-9d0d-918865af837e
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6

Ratcliffe, J D, Lewin, P L, Rogers, E, Hatonen, J J and Owens, D H (2006) Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications. IEEE Transactions on Robotics, 22 (6), 1303-1307.

Record type: Article

Abstract

This paper is concerned with the practical implementation of the norm-optimal iterative learning control (NOILC) algorithm. Here, the complexity of this algorithm is first considered with respect to real-time control applications, and a new modified version, fast norm-optimal ILC (F-NOILC), is derived for this application, which potentially allows implementation with a sampling rate three times faster that the original algorithm. A performance index is used to assess the experimental results obtained from applying F-NOILC to an industrial gantry robot system and, in particular, the effects of varying the parameters in the cost function, which is at the heart of the norm-optimal approach.

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Published date: December 2006
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 263227
URI: http://eprints.soton.ac.uk/id/eprint/263227
PURE UUID: 556677a5-8cef-41c4-82a1-a202a5ca5cab
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 05 Dec 2006
Last modified: 26 Nov 2019 02:05

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