Robust Iterative Learning Control: L1 Adaptive Feedback Control in an ILC Framework
نویسندگان
چکیده
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 L1 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.
منابع مشابه
High-precision trajectory tracking in changing environments through L1 adaptive feedback and iterative learning
Accepted version. Accepted at 2017 IEEE International Conference on Robotics and Automation. c ©2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to serv...
متن کاملHigh-Precision Trajectory Tracking in Changing Environments Through $\mathcal{L}_1$ Adaptive Feedback and Iterative Learning
Accepted version. Accepted at 2017 IEEE International Conference on Robotics and Automation. c ©2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to serv...
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