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Assessment of gradient-based point-to-point ILC for MIMO systems with varying interaction

Assessment of gradient-based point-to-point ILC for MIMO systems with varying interaction
Assessment of gradient-based point-to-point ILC for MIMO systems with varying interaction
This paper examines the performance of a gradient-based point-to-point iterative learning control (ILC) algorithm applied to multivariable input, multivariable output (MIMO) systems. Whilst ILC is concerned with tracking a reference trajectory defined over a finite time duration, the point-to-point formulation addresses application domains where the output is not critical at all points over the task duration. The algorithm therefore enforces tracking of only an arbitrary subset of points, with the advantage that the convergence rate increases and input energy decreases as points are removed from the reference. Experimental results presented using a MIMO test facility which can be configured with variable levels of input-output interaction and exogenous disturbance/noise injection confirm the theoretical findings.
1220-1225
Dinh Van, Thanh
01c5b7fd-b205-4e90-a11a-1c811c02d9ae
Freeman, Chris T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Tan, Ying
23bafadb-0655-48fe-9937-c59f01cb58ab
Dinh Van, Thanh
01c5b7fd-b205-4e90-a11a-1c811c02d9ae
Freeman, Chris T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Tan, Ying
23bafadb-0655-48fe-9937-c59f01cb58ab

Dinh Van, Thanh, Freeman, Chris T., Lewin, Paul L. and Tan, Ying (2012) Assessment of gradient-based point-to-point ILC for MIMO systems with varying interaction. IEEE Multi-Conference on Systems and Control (MSC 2012), Croatia. 03 - 05 Oct 2012. pp. 1220-1225 .

Record type: Conference or Workshop Item (Paper)

Abstract

This paper examines the performance of a gradient-based point-to-point iterative learning control (ILC) algorithm applied to multivariable input, multivariable output (MIMO) systems. Whilst ILC is concerned with tracking a reference trajectory defined over a finite time duration, the point-to-point formulation addresses application domains where the output is not critical at all points over the task duration. The algorithm therefore enforces tracking of only an arbitrary subset of points, with the advantage that the convergence rate increases and input energy decreases as points are removed from the reference. Experimental results presented using a MIMO test facility which can be configured with variable levels of input-output interaction and exogenous disturbance/noise injection confirm the theoretical findings.

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More information

Published date: 4 October 2012
Venue - Dates: IEEE Multi-Conference on Systems and Control (MSC 2012), Croatia, 2012-10-03 - 2012-10-05
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Organisations: EEE

Identifiers

Local EPrints ID: 340086
URI: http://eprints.soton.ac.uk/id/eprint/340086
PURE UUID: f1fc97ba-a21c-4677-bbc5-962441c830e5

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Date deposited: 09 Jun 2012 22:49
Last modified: 19 Jul 2019 21:58

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Contributors

Author: Thanh Dinh Van
Author: Chris T. Freeman
Author: Paul L. Lewin
Author: Ying Tan

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