The University of Southampton
University of Southampton Institutional Repository

Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2008) Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes At 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom. 27 - 28 Nov 2008. , pp. 309-314.

Record type: Conference or Workshop Item (Paper)


Synchronisation is often required to coordinate the actions of the various sub-systems involved in process applications. This is usually achieved through direct mechanical coupling, involving gears, drive belts and cams. Apart from the additional cost incurred, these components are subject to wear, constrain the layout of the plant, and may have limited accuracy. It is shown in this paper that a mechanical linkage between two sub-systems may be replaced by instead implementing a control scheme comprising an iterative learning controller together with a supervisory control loop. To illustrate the approach, two types of iterative learning controller are first implemented on a gantry robot test facility to confirm the high levels of tracking accuracy that may be achieved. The supervisory control loop is then added to synchronise the 'pick and place' action of the robot with a conveyor system moving at constant velocity. Experimental results confirm both the accurate tracking performance provided by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.

PDF coventry_synchronise.pdf - Accepted Manuscript
Restricted to Registered users only
Download (498kB)

More information

Published date: 27 November 2008
Additional Information: Event Dates: 27-28 November 2008
Venue - Dates: 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom, 2008-11-27 - 2008-11-28
Organisations: EEE, Southampton Wireless Group


Local EPrints ID: 266887
PURE UUID: 4dae9a1f-d648-457f-a268-7698057cef45

Catalogue record

Date deposited: 07 Nov 2008 17:26
Last modified: 18 Jul 2017 07:11

Export record


Author: Paul Lewin
Author: Eric Rogers
Author: James Ratcliffe

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.