A 2D Systems Approach to Iterative Learning Control with Experimental Validation
نویسندگان
چکیده
Iterative learning control is a technique especially developed for application to processes which are required to repeat the same operation, or task, over a finite duration and has many applications, such as a gantry robot undertaking a pick and place operation. The exact sequence is that once the task is completed, the robot is reset to the starting position and then the task is repeated. An iterative learning control algorithm exploits the fact that once an execution of the task is complete the control input and the output produced are available to update the control input for the next repetition with the aim of sequentially improving performance. This paper gives an overview of how control theory for 2D discrete linear systems and, in particular, repetitive processes can be used to design iterative learning control laws that deliver high quality performance in both simulation and experiments on a gantry robot executing a pick and place operation.
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