A cross-coupled non-lifted norm optimal iterative learning control approach with application to a multi-axis robotic testbed

Heqing Sun, Andrew G. Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper combines previously developed non-lifted norm optimal iterative learning control (NNOILC) with a cross coupled formulation resulting in a cross-coupled non-lifted norm optimal iterative learning control (cross-coupled NNOILC). The objective is to improve the contour tracking performance in precision motion control of multi-axis systems while retaining the computational efficiency properties of the NNOILC. The NNOILC is able to provide many of the same design advantages of norm optimal ILC (NOILC) without the restrictions on trial size. Convergence and robustness properties are provided and shown to be similar to previous efforts in NNOILC. To demonstrate the proposed approach, experiments on a multi-axis robotic testbed are given.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsXiaohua Xia, Edward Boje
PublisherIFAC Secretariat
Pages2046-2051
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - Jan 1 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Sun, H., & Alleyne, A. G. (2014). A cross-coupled non-lifted norm optimal iterative learning control approach with application to a multi-axis robotic testbed. In X. Xia, & E. Boje (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 2046-2051). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat.