Estimation-based norm-optimal iterative learning control
نویسندگان
چکیده
منابع مشابه
Estimation-based norm-optimal iterative learning control
The norm-optimal iterative learning control (ilc) algorithm for linear systems is extended to an estimation-based normoptimal ilc algorithm where the controlled variables are not directly available as measurements. A separation lemma is presented, stating that if a stationary Kalman filter is used for linear time-invariant systems then the ilc design is independent of the dynamics in the Kalman...
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The iterative learning control (ilc) method improves performance of systems that repeat the same task several times. In this paper the standard norm-optimal ilc control law for linear systems is extended to an estimation-based ilc algorithm where the controlled variables are not directly available as measurements. The proposed ilc algorithm is proven to be stable and gives monotonic convergence...
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i i i i i i Cover illustration: ILC applied to a problem where, for example, a robot tool is supposed to track a circular path. In the beginning, the tracking performance is poor, but as the ILC algorithm " learns " , the performance improves and comes very close to a perfect circle. The orange colour represents the connection to the experiments performed on ABB robots. Linköping studies in sci...
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Multivariable norm optimal iterative learning control with auxiliary optimisation David H. Owens a b c , Chris T. Freeman b & Bing Chu b a Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, Mappin Street, UK b Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, Highfield, UK c Department of Advanced Robotics, Instit...
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The subject of this paper is the modelling of the influence of non-minimum phase discrete-time system dynamics on the performance of norm optimal iterative learning control (NOILC) algorithms with the intent of explaining the observed phenomenon and predicting its primary characteristics. It is established that performance in the presence of non-minimum phase plant zeros typically has two phase...
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ژورنال
عنوان ژورنال: Systems & Control Letters
سال: 2014
ISSN: 0167-6911
DOI: 10.1016/j.sysconle.2014.08.007