Title :
Rapid-prototyping of iterative learning control using MATLAB/Simlink hybrid-programming
Author :
Yongqiang Ye ; Tayebi, Abdelhamid ; Xiaoping Liu
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
Rapid-control-prototyping is an efficient mean of experimental study for control research. It is a challenge to exercise rapid-control-prototyping for iterative learning control (ILC) due to the finite time nature of ILC. This paper describes the construction of an ILC system based on MATLAB, Simulink, and Quanser WinCon. MATLAB/Simulink hybridprogramming is utilized to solve the complex task of rapid-prototyping for ILC. The built robotic system has been shown an effective testbed for ILC. The project can provide control students a good opportunity to gain hands-on proficiency with MATLAB/Simulink hybrid-programming, rapid-prototyping, and ILC.
Keywords :
dexterous manipulators; iterative learning control; iterative methods; software prototyping; Matlab/Simulink hybrid-programming; Quanser WinCon; control students; finite time ILC system; iterative learning control; rapid-control-prototyping; robotic system; History; Joints; MATLAB; Radiation detectors; Real-time systems; Robots;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
978-1-4799-5827-6
DOI :
10.1109/CCECE.2015.7129464
