ILC Initial Input Selection with Experimental Verification
ILC Initial Input Selection with Experimental Verification
Error convergence in Iterative Learning Control (ILC) is generally highly dependent on the selection of the initial input signal applied to the system. Techniques for generation of an initial choice of input are therefore considered in this paper, based on i) a frequency-domain model-based approach, ii) a time-domain model-free method involving use of previously stored tasks and their associated convergent input demands, and iii) a combination of these approaches. Each is shown to significantly decrease the error over subsequent trials using a common form of linear ILC algorithm compared with a more arbitrary initial input selection. Experimental results are then presented using a gantry robot test facility in order to establish the efficacy and practical applicability of each technique.
Alsubaie, Muhammad A.
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Freeman, Christopher
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Cai, Zhonglun
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Lewin, Paul
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Rogers, Eric
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14 December 2009
Alsubaie, Muhammad A.
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Freeman, Christopher
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Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Lewin, Paul
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Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Alsubaie, Muhammad A., Freeman, Christopher, Cai, Zhonglun, Lewin, Paul and Rogers, Eric
(2009)
ILC Initial Input Selection with Experimental Verification.
Symposium on Learning Control at IEEE CDC 2009, Shanghai.
14 - 15 Dec 2009.
Record type:
Conference or Workshop Item
(Paper)
Abstract
Error convergence in Iterative Learning Control (ILC) is generally highly dependent on the selection of the initial input signal applied to the system. Techniques for generation of an initial choice of input are therefore considered in this paper, based on i) a frequency-domain model-based approach, ii) a time-domain model-free method involving use of previously stored tasks and their associated convergent input demands, and iii) a combination of these approaches. Each is shown to significantly decrease the error over subsequent trials using a common form of linear ILC algorithm compared with a more arbitrary initial input selection. Experimental results are then presented using a gantry robot test facility in order to establish the efficacy and practical applicability of each technique.
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Published date: 14 December 2009
Additional Information:
Event Dates: December 14-15, 2009
Venue - Dates:
Symposium on Learning Control at IEEE CDC 2009, Shanghai, 2009-12-14 - 2009-12-15
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 267637
URI: http://eprints.soton.ac.uk/id/eprint/267637
PURE UUID: 7dbed9ab-5c0e-4b2d-a622-a1a21326220b
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Date deposited: 30 Jun 2009 09:24
Last modified: 15 Mar 2024 02:43
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Contributors
Author:
Muhammad A. Alsubaie
Author:
Christopher Freeman
Author:
Zhonglun Cai
Author:
Paul Lewin
Author:
Eric Rogers
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