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Experimentally supported 2D systems based iterative learning control law design for error convergence and performance

Experimentally supported 2D systems based iterative learning control law design for error convergence and performance
Experimentally supported 2D systems based iterative learning control law design for error convergence and performance
This paper considers iterative learning control law design for both trial-to-trial error convergence and along the trial performance. It is shown how a class of control laws can be designed using the theory of linear repetitive processes for this problem where the computations are in terms of Linear Matrix Inequalities (LMIs). It is also shown how this setting extends to allow the design of robust control laws in the presence of uncertainty in the along the trial dynamics. Results from the experimental application of these laws on a gantry robot performing a pick and place operation are also given.
0967-0661
339-348
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Chis T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Chis T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Chis T and Lewin, Paul L (2010) Experimentally supported 2D systems based iterative learning control law design for error convergence and performance. Control Engineering Practice, 18 (4), 339-348. (doi:10.1016/j.conengprac.2009.12.003).

Record type: Article

Abstract

This paper considers iterative learning control law design for both trial-to-trial error convergence and along the trial performance. It is shown how a class of control laws can be designed using the theory of linear repetitive processes for this problem where the computations are in terms of Linear Matrix Inequalities (LMIs). It is also shown how this setting extends to allow the design of robust control laws in the presence of uncertainty in the along the trial dynamics. Results from the experimental application of these laws on a gantry robot performing a pick and place operation are also given.

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Published date: 2010
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267651
URI: http://eprints.soton.ac.uk/id/eprint/267651
ISSN: 0967-0661
PURE UUID: 5e53b155-6ae8-4cd6-beee-60b2cd3ac05d
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 06 Jul 2009 13:48
Last modified: 26 Nov 2019 02:05

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Contributors

Author: Lukasz Hladowski
Author: Krzysztof Galkowski
Author: Zhonglun Cai
Author: Eric Rogers ORCID iD
Author: Chis T Freeman
Author: Paul L Lewin

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