Title :
The influence of disturbances in iterative learning control
Author :
Merry, Roel ; van de Molengraft, Rene ; Steinbuch, Maarten
Author_Institution :
Fac. of Mech. Eng., Eindhoven Univ. of Technol.
Abstract :
For systems that perform repetitive tasks, a high performance feedforward signal can be derived using iterative learning control (ELC). The feedforward signal is updated through successive iterations. Disturbances present in the control scheme, such as load and measurement disturbances, are also present in the learning process and deteriorate the performance of ILC. This paper presents an expression for the tracking error of an arbitrary iteration which shows the influence of measurement and load disturbances of the present and previous iterations. The expression is validated by means of simulations and experiments on a motion system. The disturbances of the last two iterations prove to have the largest influence on the tracking error
Keywords :
adaptive control; feedforward; iterative methods; learning systems; ELC; arbitrary iteration; error tracking; high performance feedforward signal; iterative learning control; learning process; load disturbance; measurement disturbance; motion system; Adaptive control; Control systems; Error correction; Feedback loop; Iterative methods; Mechanical engineering; Motion measurement; Performance analysis; Performance evaluation; Stochastic processes;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507256
