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Constrained Point-to-Point Iterative Learning Control with Experimental Verification

Constrained Point-to-Point Iterative Learning Control with Experimental Verification
Constrained Point-to-Point Iterative Learning Control with Experimental Verification
Iterative learning control is a methodology applicable to systems which perform the same operation repeatedly, where the task is the tracking of a specified reference trajectory defined over a finite time duration. Here the methodology is instead applied to the point-to-point motion control problem in which the output is only specified at a subset of time instants. The iterative learning framework is expanded to address this case, and it is shown how the extra design freedom this set-up brings allows additional input, output and state constraints to be addressed. Experimental results illustrate the practical benefits of the proposed approach, and confirm the performance and accuracy that can be achieved.
0967-0661
489-498
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815

Freeman, Christopher (2012) Constrained Point-to-Point Iterative Learning Control with Experimental Verification. Control Engineering Practice, 20 (5), 489-498.

Record type: Article

Abstract

Iterative learning control is a methodology applicable to systems which perform the same operation repeatedly, where the task is the tracking of a specified reference trajectory defined over a finite time duration. Here the methodology is instead applied to the point-to-point motion control problem in which the output is only specified at a subset of time instants. The iterative learning framework is expanded to address this case, and it is shown how the extra design freedom this set-up brings allows additional input, output and state constraints to be addressed. Experimental results illustrate the practical benefits of the proposed approach, and confirm the performance and accuracy that can be achieved.

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Published date: 1 May 2012
Organisations: EEE

Identifiers

Local EPrints ID: 271607
URI: http://eprints.soton.ac.uk/id/eprint/271607
ISSN: 0967-0661
PURE UUID: 4600177b-4598-4d12-9d40-4a97d089973b

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Date deposited: 02 Oct 2010 12:33
Last modified: 02 Dec 2019 21:01

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Contributors

Author: Christopher Freeman

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