Point-to-point iterative learning control with optimal tracking time allocation
Point-to-point iterative learning control with optimal tracking time allocation
This paper proposes a novel design methodology that embeds optimal tracking time allocation within the point-to-point iterative learning control framework, thereby enabling significant reduction in the input energy required to follow a given point-to-point motion trajectory. The problem is formulated into an optimisation framework for which a two stage design approach is developed based on gradient method minimisation. Experimental results from a practical implementation of the proposed methodology using a gantry robot experimental test platform demonstrate its effectiveness.
6089-6094
Chen, Yiyang
2633396c-fcb8-4b50-8104-3d0da5d734cc
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
1 July 2015
Chen, Yiyang
2633396c-fcb8-4b50-8104-3d0da5d734cc
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chen, Yiyang, Chu, Bing and Freeman, Christopher T.
(2015)
Point-to-point iterative learning control with optimal tracking time allocation.
In 2015 54th IEEE Conference on Decision and Control (CDC).
IEEE.
.
(doi:10.1109/CDC.2015.7403177).
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper proposes a novel design methodology that embeds optimal tracking time allocation within the point-to-point iterative learning control framework, thereby enabling significant reduction in the input energy required to follow a given point-to-point motion trajectory. The problem is formulated into an optimisation framework for which a two stage design approach is developed based on gradient method minimisation. Experimental results from a practical implementation of the proposed methodology using a gantry robot experimental test platform demonstrate its effectiveness.
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More information
Published date: 1 July 2015
Venue - Dates:
54th IEEE Conference on Decision and Control (CDC), , Osaka, Japan, 2015-12-15 - 2015-12-18
Organisations:
Comms, Signal Processing & Control, EEE
Identifiers
Local EPrints ID: 379657
URI: http://eprints.soton.ac.uk/id/eprint/379657
ISSN: 0743-1546
PURE UUID: 81dc45f7-1e6f-4e9b-a39b-90560754eec9
Catalogue record
Date deposited: 25 Jul 2015 20:13
Last modified: 17 Mar 2024 03:28
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Contributors
Author:
Yiyang Chen
Author:
Bing Chu
Author:
Christopher T. Freeman
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