A Novel Design Framework for Point-to-Point ILC Using Successive Projection

作者：Chu Bing^*; Freeman Chris T; Owens David H

来源：IEEE Transactions on Control Systems Technology, 2015, 23(3): 1156-1163.

DOI：10.1109/TCST.2014.2356931

• Constraint handling
• point-to-point iterative learning control (ILC)
• projection methods

A novel design approach is proposed for point-to-point iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the requirement for high-performance tracking. It is shown that point-to-point ILC design can be formulated and solved using a successive projection first proposed by J. von Neumann, allowing a number of new point-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with different convergence and computational properties for the constrained point-to-point ILC design problem. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.

• 出版日期2015-5