Iterative Learning Control of Discrete Systems with Actuator Backlash using a Weighted Sum of Previous Trial Control Signals
Iterative Learning Control of Discrete Systems with Actuator Backlash using a Weighted Sum of Previous Trial Control Signals
This letter considers iterative learning control design for discrete dynamics in the presence of backlash in the actuators. A new control design for this problem is developed based on the stability theory for nonlinear repetitive processes. An example demonstrates the effectiveness of the new design where the system model is constructed from data collected from frequency response tests on a physical system.
Actuators, Lyapunov methods, Mathematical models, Nonlinear dynamics, Payloads, Symmetric matrices, Task analysis, Trajectory, iterative learning control, repetitive processes
2958-2963
Pakshin, Pavel
8bee1030-fcdf-4e47-abca-72b2d07fd20a
Emelianova, Julia
04343da6-8438-40e3-b128-fc773905ea16
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Gałkowski, Krzysztof
ce0d0509-675e-4d30-b2c4-2ca46c22dbe5
3 July 2023
Pakshin, Pavel
8bee1030-fcdf-4e47-abca-72b2d07fd20a
Emelianova, Julia
04343da6-8438-40e3-b128-fc773905ea16
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Gałkowski, Krzysztof
ce0d0509-675e-4d30-b2c4-2ca46c22dbe5
Pakshin, Pavel, Emelianova, Julia, Rogers, Eric and Gałkowski, Krzysztof
(2023)
Iterative Learning Control of Discrete Systems with Actuator Backlash using a Weighted Sum of Previous Trial Control Signals.
IEEE Control Systems Letters, 7, .
(doi:10.1109/LCSYS.2023.3292035).
Abstract
This letter considers iterative learning control design for discrete dynamics in the presence of backlash in the actuators. A new control design for this problem is developed based on the stability theory for nonlinear repetitive processes. An example demonstrates the effectiveness of the new design where the system model is constructed from data collected from frequency response tests on a physical system.
Text
L_CSS_CDC
- Accepted Manuscript
More information
Accepted/In Press date: 21 June 2023
Published date: 3 July 2023
Additional Information:
Publisher Copyright:
© 2017 IEEE.
Keywords:
Actuators, Lyapunov methods, Mathematical models, Nonlinear dynamics, Payloads, Symmetric matrices, Task analysis, Trajectory, iterative learning control, repetitive processes
Identifiers
Local EPrints ID: 480249
URI: http://eprints.soton.ac.uk/id/eprint/480249
ISSN: 2475-1456
PURE UUID: 983f211a-4f32-4a13-9726-f1a4282bc24f
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Date deposited: 01 Aug 2023 17:11
Last modified: 18 Mar 2024 02:38
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Contributors
Author:
Pavel Pakshin
Author:
Julia Emelianova
Author:
Eric Rogers
Author:
Krzysztof Gałkowski
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