The University of Southampton
University of Southampton Institutional Repository

Repetitive process based design of PD-type iterative learning control laws

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
Institute of Electrical and Electronics Engineers Inc.
Paszke, Wojciech
cb0ed465-63b4-4165-8606-fe76dc7f4752
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Boski, Marcin
39a3dbfe-0ed6-4815-b271-4d86d26efe65
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. Institute of Electrical and Electronics Engineers Inc. pp. 46-51 . (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.

Full text not available from this repository.

More information

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
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 04 Oct 2018 16:30
Last modified: 20 Jul 2019 01:24

Export record

Altmetrics

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×