Repetitive process based design and experimental verification of a dynamic iterative learning control law
Repetitive process based design and experimental verification of a dynamic iterative learning control law
This paper gives new results on iterative learning control (ILC) design and experimental verification using the stability theory of linear repetitive processes. Using this theory a control law can be designed in one step to force error convergence and produce acceptable transient dynamics. Previous research developed algorithms for the design of a static control law with supporting experimental verification. Should a static law not give the required levels of performance one option is to allow the control law to have internal dynamics. This paper develops a procedure for the design of such a control law with supporting experimental verification on a gantry robot, including a comparative performance against a static law applied to the same robot. The resulting ILC design is an efficient combination of linear matrix inequalities and optimization algorithms.
iterative learning control, linear repetitive processes, experimental evaluation, linear matrix inequality
157-165
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Nowicka, Weronika
b3905656-1b3e-407c-81ba-3c688cd85512
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
15 January 2016
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Nowicka, Weronika
b3905656-1b3e-407c-81ba-3c688cd85512
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Hladowski, Lukasz, Galkowski, Krzysztof, Nowicka, Weronika and Rogers, Eric
(2016)
Repetitive process based design and experimental verification of a dynamic iterative learning control law.
Control Engineering Practice, 46, .
(doi:10.1016/j.conengprac.2015.10.007).
Abstract
This paper gives new results on iterative learning control (ILC) design and experimental verification using the stability theory of linear repetitive processes. Using this theory a control law can be designed in one step to force error convergence and produce acceptable transient dynamics. Previous research developed algorithms for the design of a static control law with supporting experimental verification. Should a static law not give the required levels of performance one option is to allow the control law to have internal dynamics. This paper develops a procedure for the design of such a control law with supporting experimental verification on a gantry robot, including a comparative performance against a static law applied to the same robot. The resulting ILC design is an efficient combination of linear matrix inequalities and optimization algorithms.
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Accepted/In Press date: 14 October 2015
e-pub ahead of print date: 2 December 2015
Published date: 15 January 2016
Keywords:
iterative learning control, linear repetitive processes, experimental evaluation, linear matrix inequality
Organisations:
Faculty of Physical Sciences and Engineering
Identifiers
Local EPrints ID: 384915
URI: http://eprints.soton.ac.uk/id/eprint/384915
ISSN: 0967-0661
PURE UUID: 4e5adf08-c44d-4f21-81ec-911279103d65
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Date deposited: 14 Jan 2016 10:02
Last modified: 15 Mar 2024 02:42
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Contributors
Author:
Lukasz Hladowski
Author:
Krzysztof Galkowski
Author:
Weronika Nowicka
Author:
Eric Rogers
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