Spatial path tracking using iterative learning control

Chen, Yiyang, Chu, Bing and Freeman, Christopher T. (2016) Spatial path tracking using iterative learning control. In 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE. pp. 7189-7194 . (doi:10.1109/CDC.2016.7799378).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper proposes a novel control methodology to enable accurate tracking of a path profile defined in output space. No temporal requirement is specified on this movement a priori, and the proposed framework enforces path tracking while minimizing an additional objective function. The problem is solved by formulating the problem as a constrained optimization involving simultaneous spatial tracking constraints and temporal via-point constraints. Practical implementation is via a two stage iterative learning control algorithm based on norm optimal and gradient updates which embeds robustness to plant uncertainty. The algorithm is verified using a gantry robot experimental platform, whose results reveal practical efficacy.

Text

bare_jrnl.pdf - Other

Restricted to Registered users only

Download (308kB)

Request a copy