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Constrained iterative learning control for linear time-varying systems with experimental validation on a high-speed rack feeder

Constrained iterative learning control for linear time-varying systems with experimental validation on a high-speed rack feeder
Constrained iterative learning control for linear time-varying systems with experimental validation on a high-speed rack feeder
Iterative learning control (ILC) applies to systems required to track the desired trajectory of finite duration repeatedly. This article considers constrained ILC design for linear time-varying systems, a problem with limited, in relative terms, results in the literature but not uncommon in practical applications. Different design algorithms are developed, and their convergence properties are established. An extension of these designs to point-to-point tracking tasks is given. A high-speed rack feeder typically used in automated warehouses is considered to verify the designs. It represents a flexible beam structure subject to kinematic constraints, such as a maximum velocity and a maximum acceleration with a vertically moving mass causing the time-varying characteristics. Experimental results demonstrate the effectiveness of the designs.
Constrained control, Convergence, Iterative learning control, Linear systems, System dynamics, Task analysis, Time-varying systems, Trajectory, experimental validation, iterative learning control (ILC).
1063-6536
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Rauh, Andreas
c634dd32-379e-4986-b116-16b1477f8ec5
Aschemann, Harald
262f68bc-520e-4c5f-ae53-da7b47ea847e
Owens, David H.
dca0ba32-aba6-4bab-a511-9bd322da16df
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Rauh, Andreas
c634dd32-379e-4986-b116-16b1477f8ec5
Aschemann, Harald
262f68bc-520e-4c5f-ae53-da7b47ea847e
Owens, David H.
dca0ba32-aba6-4bab-a511-9bd322da16df

Chu, Bing, Rogers, Eric, Rauh, Andreas, Aschemann, Harald and Owens, David H. (2021) Constrained iterative learning control for linear time-varying systems with experimental validation on a high-speed rack feeder. IEEE Transactions on Control Systems Technology. (doi:10.1109/TCST.2021.3123744). (In Press)

Record type: Article

Abstract

Iterative learning control (ILC) applies to systems required to track the desired trajectory of finite duration repeatedly. This article considers constrained ILC design for linear time-varying systems, a problem with limited, in relative terms, results in the literature but not uncommon in practical applications. Different design algorithms are developed, and their convergence properties are established. An extension of these designs to point-to-point tracking tasks is given. A high-speed rack feeder typically used in automated warehouses is considered to verify the designs. It represents a flexible beam structure subject to kinematic constraints, such as a maximum velocity and a maximum acceleration with a vertically moving mass causing the time-varying characteristics. Experimental results demonstrate the effectiveness of the designs.

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RackFeederIEEECSTRevisionV7 (2) - Accepted Manuscript
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Accepted/In Press date: 3 October 2021
Keywords: Constrained control, Convergence, Iterative learning control, Linear systems, System dynamics, Task analysis, Time-varying systems, Trajectory, experimental validation, iterative learning control (ILC).

Identifiers

Local EPrints ID: 453292
URI: http://eprints.soton.ac.uk/id/eprint/453292
ISSN: 1063-6536
PURE UUID: 44cb0102-4b3e-47b1-aa68-be987baf405e
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 12 Jan 2022 17:34
Last modified: 28 Apr 2022 02:06

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Contributors

Author: Bing Chu ORCID iD
Author: Eric Rogers ORCID iD
Author: Andreas Rauh
Author: Harald Aschemann
Author: David H. Owens

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