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Output Information based Iterative Learning Control Law Design with Experimental Verification

Output Information based Iterative Learning Control Law Design with Experimental Verification
Output Information based Iterative Learning Control Law Design with Experimental Verification
This paper considers iterative learning control law design using the theory of linear repetitive processes. This setting enables trial-to-trial error convergence and along-the-trial performance to be considered simultaneously in the design. It is also shown that this design extends naturally to include robustness to unmodeled plant dynamics. The results from experimental application of these laws to a gantry robot performing a pick and place operation are given, together with a discussion of the positioning of this approach relative to alternatives and possible further research.
0022-0434
021012/1-021012/10
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, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
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, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2012) Output Information based Iterative Learning Control Law Design with Experimental Verification. Journal of Dynamic Systems, Measurement and Control, 134 (2), 021012/1-021012/10.

Record type: Article

Abstract

This paper considers iterative learning control law design using the theory of linear repetitive processes. This setting enables trial-to-trial error convergence and along-the-trial performance to be considered simultaneously in the design. It is also shown that this design extends naturally to include robustness to unmodeled plant dynamics. The results from experimental application of these laws to a gantry robot performing a pick and place operation are given, together with a discussion of the positioning of this approach relative to alternatives and possible further research.

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Published date: 1 March 2012
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267747
URI: http://eprints.soton.ac.uk/id/eprint/267747
ISSN: 0022-0434
PURE UUID: bb7bfbb3-6381-4a62-8ad4-24caf9ddf7ba
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 03 Aug 2009 13:55
Last modified: 24 Sep 2019 00:58

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