Title :
A frequency domain iterative learning control for low bandwidth system
Author :
Qin, Wubi ; Cai, Lilong
Author_Institution :
Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, China
Abstract :
A frequency-domain learning scheme based on the modified Fourier series for the tracking control of system with a low bandwidth limit is presented. The proposed controller consists of two parts: a PD controller, and an online updated learning controller. The proposed method can reduce the tracking error more effectively than the same type of controller based on the conventional Fourier series approximation when the controlled system has a low-bandwidth. Experimental results on a belt-driven positioning table have shown that a considerable improvement can be achieved
Keywords :
Fourier series; frequency-domain analysis; learning systems; position control; tracking; two-term control; Fourier series; PD controller; frequency domain; iterative learning control; low bandwidth system; positioning table; tracking; tracking control; Approximation methods; Bandwidth; Control systems; Error correction; Fourier series; Frequency domain analysis; Mathematics; Output feedback; PD control; Sampling methods;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945896
