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Iterative Learning Control Based on Relaxed 2D Systems Stability Criteria

Iterative Learning Control Based on Relaxed 2D Systems Stability Criteria
Iterative Learning Control Based on Relaxed 2D Systems Stability Criteria
This paper develops significant new results on the design of Iterative Learning Control (ILC) schemes based on treating the problem within the framework of the stability/control theory for linear repetitive processes. These processes propagate in two independent directions and arise in the modeling of a number of physical processes. The duration of information propagation in one of the two directions is finite, and this is a key link to ILC which has been developed as a technique for controlling systems which are required to repeat the same operation over a finite duration known as the trial length and information from previous executions is used to update the control input for the next trial and thereby sequentially improve performance. The experimental performance of the new algorithms on a gantry robot is reported, including a comparison with alternative designs.
1063-6536
1016-1023
Dabkowski, P
70e4f9ba-9370-45f9-b409-cccc563a2d8c
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Dabkowski, P
70e4f9ba-9370-45f9-b409-cccc563a2d8c
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Dabkowski, P, Galkowski, K, Cai, Z, Rogers, E, Freeman, C T and Lewin, P L (2013) Iterative Learning Control Based on Relaxed 2D Systems Stability Criteria. IEEE Transactions on Control Systems Technology, 21 (3), 1016-1023. (doi:10.1109/TCST.2012.2198477).

Record type: Article

Abstract

This paper develops significant new results on the design of Iterative Learning Control (ILC) schemes based on treating the problem within the framework of the stability/control theory for linear repetitive processes. These processes propagate in two independent directions and arise in the modeling of a number of physical processes. The duration of information propagation in one of the two directions is finite, and this is a key link to ILC which has been developed as a technique for controlling systems which are required to repeat the same operation over a finite duration known as the trial length and information from previous executions is used to update the control input for the next trial and thereby sequentially improve performance. The experimental performance of the new algorithms on a gantry robot is reported, including a comparison with alternative designs.

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More information

Published date: 2013
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 268576
URI: http://eprints.soton.ac.uk/id/eprint/268576
ISSN: 1063-6536
PURE UUID: 099111b5-f6fb-45d2-8f48-d02bf2522eb6
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 04 Mar 2010 13:17
Last modified: 19 Nov 2019 02:01

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