DocumentCode
574746
Title
Experimentally verified Iterative Learning Control based on repetitive process stability theory
Author
Dabkowski, Pawel ; Galkowski, Krzysztof ; Rogers, Eric ; Zhonglun Cai ; Freeman, C.T. ; Lewin, P.L. ; Hurak, Zdenek ; Kummert, Anton
Author_Institution
Dept. of Control Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic
fYear
2012
fDate
27-29 June 2012
Firstpage
604
Lastpage
609
Abstract
This paper gives new results on the design and experimental evaluation of an Iterative Learning Control (ILC) law in a repetitive process setting. The experimental results given are from a gantry robot facility that has been extensively used in the benchmarking of linear model based ILC designs. An example is also given to demonstrate that this new design offers much superior performance in comparison to some previous designs based on the Roesser model for 2D linear systems.
Keywords
adaptive control; control system synthesis; iterative methods; learning systems; robots; stability; 2D linear systems; Roesser model; gantry robot facility; iterative learning control; linear model; repetitive process stability theory; Asymptotic stability; Educational institutions; Robots; Stability criteria; State-space methods; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6315344
Filename
6315344
Link To Document