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Repetitive process based design and experimental verification of a dynamic iterative learning control law |
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| Affiliation: | 1. Institute of Control and Computation Engineering, University of Zielona Góra, ul. Podgórna 50, 65-246 Zielona Góra, Poland;2. Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK;1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany;1. University “Politehnica” of Bucharest, Faculty of Aerospace Engineering, Str. Polizu, No. 1, 011063, Bucharest, Romania;2. Control Department, IMI Advanced Systems Div., P.O.B. 1044/77, Ramat Hasharon, 47100, Israel;1. German Aerospace Center (DLR), Oberpfaffenhofen, Germany;2. AIRBUS Flight Control Systems, Toulouse, France;3. DEIMOS-SPACE S.L.U., Madrid, Spain (now with the University of Bristol) |
| Abstract: | This paper gives new results on iterative learning control (ILC) design and experimental verification using the stability theory of linear repetitive processes. Using this theory a control law can be designed in one step to force error convergence and produce acceptable transient dynamics. Previous research developed algorithms for the design of a static control law with supporting experimental verification. Should a static law not give the required levels of performance one option is to allow the control law to have internal dynamics. This paper develops a procedure for the design of such a control law with supporting experimental verification on a gantry robot, including a comparative performance against a static law applied to the same robot. The resulting ILC design is an efficient combination of linear matrix inequalities and optimization algorithms. |
| Keywords: | Iterative learning control Linear repetitive processes Experimental evaluation Linear matrix inequality |
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