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Selecting the Initial Input for Iterative Learning Control: Algorithms with Experimental Verification

Selecting the Initial Input for Iterative Learning Control: Algorithms with Experimental Verification
Selecting the Initial Input for Iterative Learning Control: Algorithms with Experimental Verification
The initial choice of input in iterative learning control (ILC) generally has a signifficant effect on the error incurred over subsequent trials. In this paper techniques are developed which use experimental data gathered over previous applications of ILC in order to generate an initial input signal for the tracking of a new reference trajectory. A model-based approach is then incorporated to overcome the limitation of insufficient previous experimental data, and a robust design procedure is developed. Experimental evaluation results are obtained using a gantry robot facility.
61-66
Alsubaie, Muhammad
9b05bc31-3ed9-4404-890d-534cad10921e
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Alsubaie, Muhammad
9b05bc31-3ed9-4404-890d-534cad10921e
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Alsubaie, Muhammad, Cai, Zhonglun, Freeman, Christopher, Rogers, Eric and Lewin, Paul (2010) Selecting the Initial Input for Iterative Learning Control: Algorithms with Experimental Verification. UKACC International Conference on CONTROL 2010, United Kingdom. 07 - 10 Sep 2010. pp. 61-66 .

Record type: Conference or Workshop Item (Paper)

Abstract

The initial choice of input in iterative learning control (ILC) generally has a signifficant effect on the error incurred over subsequent trials. In this paper techniques are developed which use experimental data gathered over previous applications of ILC in order to generate an initial input signal for the tracking of a new reference trajectory. A model-based approach is then incorporated to overcome the limitation of insufficient previous experimental data, and a robust design procedure is developed. Experimental evaluation results are obtained using a gantry robot facility.

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More information

Published date: 7 September 2010
Additional Information: Event Dates: 7-10 September 2010
Venue - Dates: UKACC International Conference on CONTROL 2010, United Kingdom, 2010-09-07 - 2010-09-10
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 270827
URI: http://eprints.soton.ac.uk/id/eprint/270827
PURE UUID: 9b23dc7e-5238-4533-bfba-e7e3695d2ec9
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 13 Apr 2010 10:51
Last modified: 20 Jul 2019 01:23

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