Objective-Driven ILC for Point-to-Point Movement Tasks
Objective-Driven ILC for Point-to-Point Movement Tasks
A framework is developed which allows a general class of ILC algorithm to be applied to tasks which require the plant output to reach a given point in a set time. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original ILC algorithm to track an arbitrary reference trajectory satisfying the end-point conditions. Experimental results are presented to confirm the theoretical findings, and verify the favourable qualities of this novel approach to point-to-point movement control.
252-257
Freeman, Christopher
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Cai, Zhonglun
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Rogers, Eric
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Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
10 June 2009
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Freeman, Christopher, Cai, Zhonglun, Rogers, Eric and Lewin, Paul
(2009)
Objective-Driven ILC for Point-to-Point Movement Tasks.
2009 American Control Conference, St Louis, Missouri, United States.
10 - 12 Jun 2009.
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
A framework is developed which allows a general class of ILC algorithm to be applied to tasks which require the plant output to reach a given point in a set time. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original ILC algorithm to track an arbitrary reference trajectory satisfying the end-point conditions. Experimental results are presented to confirm the theoretical findings, and verify the favourable qualities of this novel approach to point-to-point movement control.
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Published date: 10 June 2009
Additional Information:
Event Dates: 10-12 June, 2009
Venue - Dates:
2009 American Control Conference, St Louis, Missouri, United States, 2009-06-10 - 2009-06-12
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 266659
URI: http://eprints.soton.ac.uk/id/eprint/266659
PURE UUID: c252a8d8-f879-4835-ac00-55239381e954
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Date deposited: 15 Sep 2008 12:13
Last modified: 11 Dec 2024 02:39
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