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Constrained Point-to-Point Iterative Learning Control

Constrained Point-to-Point Iterative Learning Control
Constrained Point-to-Point Iterative Learning Control
Iterative learning control is a methodology applicable to systems which repeatedly track the same reference trajectory defined over a finite time duration. Here the approach is instead applied to the point-to-point motion control problem in which the output is only specified at a subset of time instants. Iterative learning algorithms are developed to address this case, and it is shown how the extra design freedom allows input, output and state constraints to be addressed. Experimental results confirm the practicality and performance that can be achieved.
3611-3616
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815

Freeman, Christopher (2011) Constrained Point-to-Point Iterative Learning Control. 18th IFAC World Congress, Italy. 28 Aug - 02 Sep 2011. pp. 3611-3616 .

Record type: Conference or Workshop Item (Paper)

Abstract

Iterative learning control is a methodology applicable to systems which repeatedly track the same reference trajectory defined over a finite time duration. Here the approach is instead applied to the point-to-point motion control problem in which the output is only specified at a subset of time instants. Iterative learning algorithms are developed to address this case, and it is shown how the extra design freedom allows input, output and state constraints to be addressed. Experimental results confirm the practicality and performance that can be achieved.

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More information

Published date: 28 August 2011
Additional Information: Event Dates: August 28 - September 2
Venue - Dates: 18th IFAC World Congress, Italy, 2011-08-28 - 2011-09-02
Organisations: EEE

Identifiers

Local EPrints ID: 271609
URI: http://eprints.soton.ac.uk/id/eprint/271609
PURE UUID: ee26d823-91d3-4f8b-aaf1-32295ffdfb7b

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Date deposited: 02 Oct 2010 12:41
Last modified: 19 Jul 2019 22:12

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