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A coordinate descent approach to optimal tracking time allocation in point-to-point ILC

A coordinate descent approach to optimal tracking time allocation in point-to-point ILC
A coordinate descent approach to optimal tracking time allocation in point-to-point ILC
Iterative learning control (ILC) is designed for applications involving multiple executions of the same task. Existing work has applied ILC to point-to-point motion tasks, but has not fully exploited its design freedom to optimize performance criteria other than the tracking accuracy. This paper extends the task description of the point-to-point ILC framework for discrete-time systems by considering the tracking time instants of desired positions as changing variables (i.e. the temporal location of each position can vary). This extension allows the optimization of an additional performance index while maintaining the tracking accuracy. This optimization problem is solved using a two stage design framework, and an iterative algorithm consisting of a norm optimal ILC update and a coordinate descent approach is then derived to minimize an additional performance index, e.g. control effort, for the point-to-point motion tasks. This algorithm is tested on a gantry robot to verify its effectiveness in the presence of model uncertainty and disturbances.
0957-4158
25-34
Chen, Yiyang
da753778-ba38-4f95-ad29-b78ff9b12b05
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chen, Yiyang
da753778-ba38-4f95-ad29-b78ff9b12b05
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815

Chen, Yiyang, Chu, Bing and Freeman, Christopher (2019) A coordinate descent approach to optimal tracking time allocation in point-to-point ILC. Mechatronics, 59, 25-34. (doi:10.1016/j.mechatronics.2019.02.005).

Record type: Article

Abstract

Iterative learning control (ILC) is designed for applications involving multiple executions of the same task. Existing work has applied ILC to point-to-point motion tasks, but has not fully exploited its design freedom to optimize performance criteria other than the tracking accuracy. This paper extends the task description of the point-to-point ILC framework for discrete-time systems by considering the tracking time instants of desired positions as changing variables (i.e. the temporal location of each position can vary). This extension allows the optimization of an additional performance index while maintaining the tracking accuracy. This optimization problem is solved using a two stage design framework, and an iterative algorithm consisting of a norm optimal ILC update and a coordinate descent approach is then derived to minimize an additional performance index, e.g. control effort, for the point-to-point motion tasks. This algorithm is tested on a gantry robot to verify its effectiveness in the presence of model uncertainty and disturbances.

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Accepted/In Press date: 20 February 2019
e-pub ahead of print date: 7 March 2019
Published date: May 2019

Identifiers

Local EPrints ID: 428799
URI: https://eprints.soton.ac.uk/id/eprint/428799
ISSN: 0957-4158
PURE UUID: 381b8648-3d12-49b6-9d6a-edbb06ec172c
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 08 Mar 2019 17:30
Last modified: 02 May 2019 00:32

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