Iterative Learning and Repetitive Controller Design Via Duality with Experimental Verification
Iterative Learning and Repetitive Controller Design Via Duality with Experimental Verification
A duality has been shown to exist between iterative learning and repetitive control, in which both control paradigms differ only in the location of an internal model of the disturbance. In this paper the framework is used to derive novel controllers, which are realised using state and output feedback for the ILC and RC cases respectively. These can be configured in both current error feedback or past error feedforward structures, and complete a quarterion of state/output feedback designs for ILC/RC. The proposed controllers are shown to increase the set of plants for which the tracking task is achievable. A solution to output feedback design problem is formulated, and experimental results using a gantry robot confirm high levels of performance.
6961-6966
Alsubaie, Muhammad
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Freeman, Chris
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Cai, Zhonglun
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Rogers, Eric
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Lewin, Paul
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2010
Alsubaie, Muhammad
9b05bc31-3ed9-4404-890d-534cad10921e
Freeman, Chris
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Cai, Zhonglun
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Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Alsubaie, Muhammad, Freeman, Chris, Cai, Zhonglun, Rogers, Eric and Lewin, Paul
(2010)
Iterative Learning and Repetitive Controller Design Via Duality with Experimental Verification.
49th IEEE Conference on Decision and Control, Atlanta, USA., Georgia.
15 - 17 Dec 2010.
.
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Conference or Workshop Item
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Abstract
A duality has been shown to exist between iterative learning and repetitive control, in which both control paradigms differ only in the location of an internal model of the disturbance. In this paper the framework is used to derive novel controllers, which are realised using state and output feedback for the ILC and RC cases respectively. These can be configured in both current error feedback or past error feedforward structures, and complete a quarterion of state/output feedback designs for ILC/RC. The proposed controllers are shown to increase the set of plants for which the tracking task is achievable. A solution to output feedback design problem is formulated, and experimental results using a gantry robot confirm high levels of performance.
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Published date: 2010
Additional Information:
Event Dates: December 15-17, 2010
Venue - Dates:
49th IEEE Conference on Decision and Control, Atlanta, USA., Georgia, 2010-12-15 - 2010-12-17
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 270819
URI: http://eprints.soton.ac.uk/id/eprint/270819
PURE UUID: 31929dc9-3d7f-4846-a27f-7a77efe9e07b
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Date deposited: 12 Apr 2010 11:37
Last modified: 11 Dec 2024 02:39
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Contributors
Author:
Muhammad Alsubaie
Author:
Chris Freeman
Author:
Zhonglun Cai
Author:
Eric Rogers
Author:
Paul Lewin
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