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Experimental Verification of Accelerated Norm-Optimal Iterative Learning Control

Experimental Verification of Accelerated Norm-Optimal Iterative Learning Control
Experimental Verification of Accelerated Norm-Optimal Iterative Learning Control
Accelerated Norm-Optimal Iterative Learning Control (NOILC) is a recently developed method to improve the convergence performance of the well known NOILC algorithm. This paper investigates the e®ectiveness of this method experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained con¯rm that the accelerated algorithm outperforms NOILC algorithm and in particular, the improvements at initial stage can be substantial, which is of great interest in practical applications.
211-216
Chu, B
fc35b912-80d1-4454-bfe1-53d028ba9673
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6
Rogers, E
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Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Chu, B
fc35b912-80d1-4454-bfe1-53d028ba9673
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Chu, B, Cai, Z, Owens, D H, Rogers, E, Freeman, C T and Lewin, P L (2010) Experimental Verification of Accelerated Norm-Optimal Iterative Learning Control. UKACC International Conference on CONTROL 2010, United Kingdom. 07 - 10 Sep 2010. pp. 211-216 .

Record type: Conference or Workshop Item (Paper)

Abstract

Accelerated Norm-Optimal Iterative Learning Control (NOILC) is a recently developed method to improve the convergence performance of the well known NOILC algorithm. This paper investigates the e®ectiveness of this method experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained con¯rm that the accelerated algorithm outperforms NOILC algorithm and in particular, the improvements at initial stage can be substantial, which is of great interest in practical applications.

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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
Learn more about Southampton Wireless Group research

Identifiers

Local EPrints ID: 270828
URI: http://eprints.soton.ac.uk/id/eprint/270828
PURE UUID: 0d08cf81-4e07-4fca-8313-d19aae459d6c
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 13 Apr 2010 10:53
Last modified: 20 Jul 2019 01:23

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Contributors

Author: B Chu
Author: Z Cai
Author: D H Owens
Author: E Rogers ORCID iD
Author: C T Freeman
Author: P L Lewin

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