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A Novel Design Framework for Point-to-Point ILC Using Successive Projection

A Novel Design Framework for Point-to-Point ILC Using Successive Projection
A Novel Design Framework for Point-to-Point ILC Using Successive Projection
A novel design approach is proposed for point-to-point iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the requirement for high-performance tracking. It is shown that point-to-point ILC design can be formulated and solved using a successive projection first proposed by J. von Neumann, allowing a number of new point-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with different convergence and computational properties for the constrained point-to-point ILC design problem. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.
1063-6536
1156-1163
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Owens, D.H.
3452e9bb-d3bd-4995-b4bb-424bbd288b09
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Owens, D.H.
3452e9bb-d3bd-4995-b4bb-424bbd288b09

Chu, B., Freeman, C. T. and Owens, D.H. (2015) A Novel Design Framework for Point-to-Point ILC Using Successive Projection. IEEE Transactions on Control Systems Technology, 23 (3), 1156-1163.

Record type: Article

Abstract

A novel design approach is proposed for point-to-point iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the requirement for high-performance tracking. It is shown that point-to-point ILC design can be formulated and solved using a successive projection first proposed by J. von Neumann, allowing a number of new point-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with different convergence and computational properties for the constrained point-to-point ILC design problem. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.

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Published date: 1 May 2015
Organisations: Vision, Learning and Control, EEE

Identifiers

Local EPrints ID: 377144
URI: http://eprints.soton.ac.uk/id/eprint/377144
ISSN: 1063-6536
PURE UUID: 8321b9bb-514b-44d7-91ae-c2b077bbf34f
ORCID for B. Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 15 May 2015 13:25
Last modified: 03 Dec 2019 01:38

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