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Iterative learning control for multiple point-to-point tracking application

Iterative learning control for multiple point-to-point tracking application
Iterative learning control for multiple point-to-point tracking application
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. Experimental results using a non-minimum phase test facility are presented to confirm the theoretical findings.
1063-6536
590-600
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
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 (2011) Iterative learning control for multiple point-to-point tracking application. IEEE Transactions on Control Systems Technology, 19 (3), 590-600. (doi:10.1109/TCST.2010.2051670).

Record type: Article

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. Experimental results using a non-minimum phase test facility are presented to confirm the theoretical findings.

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Published date: 2011
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267024
URI: http://eprints.soton.ac.uk/id/eprint/267024
ISSN: 1063-6536
PURE UUID: c84eaeac-2061-4e3c-8f00-746ba1d1e2bc
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 09 Jan 2009 00:12
Last modified: 10 Dec 2019 01:57

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