Iterative Learning Control for Multiple Point-to-Point Tracking Application

作者：Freeman Chris T^*; Cai Zhonglun; Rogers Eric; Lewin Paul L

来源：IEEE Transactions on Control Systems Technology, 2011, 19(3): 590-600.

DOI：10.1109/TCST.2010.2051670

• Frequency domain analysis
• iterative methods
• learning control systems
• motion control
• optimization methods
• test facilities

This paper considers a general class of linear iterative learning control (ILC) algorithm applied to tracking tasks which require the plant output to reach given points at predetermined time instants, without the specification of intervening reference points. A framework is developed in the frequency-domain in which the reference is updated between trials. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original class of ILC algorithm to track a prescribed arbitrary reference trajectory satisfying the point-to-point output constraints. Experimental results using a non-minimum phase test facility are presented to illustrate the theoretical findings.

• 出版日期2011-5