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
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;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315344
