• DocumentCode
    2848203
  • Title

    Robust Iterative Learning Control: L1 adaptive feedback control in an ILC framework

  • Author

    Barton, K. ; Mishra, S. ; Xargay, E.

  • Author_Institution
    Univ. of Michigan, Ann Arbor, MI, USA
  • fYear
    2011
  • fDate
    June 29 2011-July 1 2011
  • Firstpage
    3663
  • Lastpage
    3668
  • Abstract
    This paper presents a novel Iterative Learning Control (ILC) scheme for linear systems in the presence of parametric uncertainty. The developed ILC architecture is comprised of an £1 adaptive feedback controller combined with an ILC feedforward controller. The learning controller is designed to compensate for repetitive system uncertainties, while the adaptive controller compensates for non-repetitive uncertainties. Simulation results for a simplified motion control system illustrate the potential benefits of the architecture.
  • Keywords
    adaptive control; control system synthesis; feedback; feedforward; iterative methods; learning systems; robust control; ILC feedforward controller; ILC framework; adaptive feedback control; controller design; linear systems; parametric uncertainty; robust iterative learning control; Adaptive control; Feedforward neural networks; Frequency domain analysis; Robustness; Stability analysis; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference (ACC), 2011
  • Conference_Location
    San Francisco, CA
  • ISSN
    0743-1619
  • Print_ISBN
    978-1-4577-0080-4
  • Type

    conf

  • DOI
    10.1109/ACC.2011.5990872
  • Filename
    5990872
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2848203