Repetitive process based design of PD-type iterative learning control laws
Repetitive process based design of PD-type iterative learning control laws
New results on the design of iterative learning control laws are developed. The analysis is in the repetitive process setting. The iterative learning law combines a PD-type learning function and state feedback, where only a relatively small number of parameters need to be tuned. The analysis is extended to allow different finite frequency range performance specifications, where this facility is relevant to many applications. The design computations required are linear matrix inequality based. The new design is illustrated by a simulation based study on robotic manipulator behavior, where the model used has been constructed from experimental data.
46-51
Paszke, Wojciech
cb0ed465-63b4-4165-8606-fe76dc7f4752
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Boski, Marcin
39a3dbfe-0ed6-4815-b271-4d86d26efe65
20 August 2018
Paszke, Wojciech
cb0ed465-63b4-4165-8606-fe76dc7f4752
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Boski, Marcin
39a3dbfe-0ed6-4815-b271-4d86d26efe65
Paszke, Wojciech, Rogers, Eric and Boski, Marcin
(2018)
Repetitive process based design of PD-type iterative learning control laws.
In MED 2018 - 26th Mediterranean Conference on Control and Automation.
IEEE.
.
(doi:10.1109/MED.2018.8442499).
Record type:
Conference or Workshop Item
(Paper)
Abstract
New results on the design of iterative learning control laws are developed. The analysis is in the repetitive process setting. The iterative learning law combines a PD-type learning function and state feedback, where only a relatively small number of parameters need to be tuned. The analysis is extended to allow different finite frequency range performance specifications, where this facility is relevant to many applications. The design computations required are linear matrix inequality based. The new design is illustrated by a simulation based study on robotic manipulator behavior, where the model used has been constructed from experimental data.
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Published date: 20 August 2018
Venue - Dates:
26th Mediterranean Conference on Control and Automation, MED 2018, , Zadar, Croatia, 2018-06-19 - 2018-06-22
Identifiers
Local EPrints ID: 424108
URI: http://eprints.soton.ac.uk/id/eprint/424108
PURE UUID: 76fcdbb5-285a-4a43-b4e4-6db472dcfc99
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Date deposited: 04 Oct 2018 16:30
Last modified: 18 Mar 2024 02:38
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Contributors
Author:
Wojciech Paszke
Author:
Eric Rogers
Author:
Marcin Boski
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