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Convergence and Robustness of a Point-to-Point Iterative Learning Control Algorithm

Convergence and Robustness of a Point-to-Point Iterative Learning Control Algorithm
Convergence and Robustness of a Point-to-Point Iterative Learning Control Algorithm
Iterative learning control (ILC) is a methodology applied to systems which repeatedly perform a tracking task defined over a fixed, finite time duration. In this approach the output is specified at all points in this interval, however there exists a broad class of applications in which the output is only important at a subset of time instants. An ILC update law is therefore derived which enables tracking at any subset of time points, with performance shown to increase as time points are removed from the tracking objective. Experimental results using a multi-variable test facility confirm that point-to-point ILC leads to superior performance than can be obtained using standard ILC and an a priori specified reference.
4678-4683
Dinh Van, T
e97fa755-77f2-4462-a135-10d444bc4db3
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Tan, Y
ba3a377b-f9c3-4b30-abfc-41745fc6fed2
Dinh Van, T
e97fa755-77f2-4462-a135-10d444bc4db3
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Tan, Y
ba3a377b-f9c3-4b30-abfc-41745fc6fed2

Dinh Van, T, Freeman, C T, Lewin, P L and Tan, Y (2012) Convergence and Robustness of a Point-to-Point Iterative Learning Control Algorithm. 51st IEEE Conference on Decision and Control, United States. 10 - 13 Dec 2012. pp. 4678-4683 .

Record type: Conference or Workshop Item (Paper)

Abstract

Iterative learning control (ILC) is a methodology applied to systems which repeatedly perform a tracking task defined over a fixed, finite time duration. In this approach the output is specified at all points in this interval, however there exists a broad class of applications in which the output is only important at a subset of time instants. An ILC update law is therefore derived which enables tracking at any subset of time points, with performance shown to increase as time points are removed from the tracking objective. Experimental results using a multi-variable test facility confirm that point-to-point ILC leads to superior performance than can be obtained using standard ILC and an a priori specified reference.

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Published date: 10 December 2012
Venue - Dates: 51st IEEE Conference on Decision and Control, United States, 2012-12-10 - 2012-12-13
Organisations: EEE

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Local EPrints ID: 341310
URI: http://eprints.soton.ac.uk/id/eprint/341310
PURE UUID: cdf58d76-8857-4c6a-b0b2-654a63d825b0

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Date deposited: 18 Jul 2012 22:21
Last modified: 19 Jul 2019 21:56

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Contributors

Author: T Dinh Van
Author: C T Freeman
Author: P L Lewin
Author: Y Tan

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