BIBO stability of an adaptive time-frequency Iterative Learning Control with application to microscale robotic deposition

Douglas A. Bristow, Andrew G Alleyne

Research output: Contribution to journalConference article

Abstract

Microscale robotic deposition (μ-RD) is an emerging solid free-form manufacturing technique for construction of parts with microscale feature sizes. Part quality in this process is directly related to the robot tracking performance. In this paper an adaptive Iterative Learning Control algorithm using a time-varying Q-filter is presented for robust high performance tracking control of the μ-RD robot. Using a switched systems analysis, the existence of a minimum dwell time for BIBO stability is demonstrated. Experimental results show the ability of the adaptive algorithm to stably improve performance over the initial fixed filter. The recent development of multi-ink valves allows construction of parts with multiple materials interlaced throughout and a sample two-ink manufactured part is presented.

Original languageEnglish (US)
Article numberFrB17.3
Pages (from-to)4518-4524
Number of pages7
JournalProceedings of the American Control Conference
Volume7
StatePublished - Sep 1 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

Fingerprint

Ink
Robotics
Robots
Adaptive algorithms
Systems analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

BIBO stability of an adaptive time-frequency Iterative Learning Control with application to microscale robotic deposition. / Bristow, Douglas A.; Alleyne, Andrew G.

In: Proceedings of the American Control Conference, Vol. 7, FrB17.3, 01.09.2005, p. 4518-4524.

Research output: Contribution to journalConference article

@article{e3f21dfde8f14ce197e94c2ee3fe6df7,
title = "BIBO stability of an adaptive time-frequency Iterative Learning Control with application to microscale robotic deposition",
abstract = "Microscale robotic deposition (μ-RD) is an emerging solid free-form manufacturing technique for construction of parts with microscale feature sizes. Part quality in this process is directly related to the robot tracking performance. In this paper an adaptive Iterative Learning Control algorithm using a time-varying Q-filter is presented for robust high performance tracking control of the μ-RD robot. Using a switched systems analysis, the existence of a minimum dwell time for BIBO stability is demonstrated. Experimental results show the ability of the adaptive algorithm to stably improve performance over the initial fixed filter. The recent development of multi-ink valves allows construction of parts with multiple materials interlaced throughout and a sample two-ink manufactured part is presented.",
author = "Bristow, {Douglas A.} and Alleyne, {Andrew G}",
year = "2005",
month = "9",
day = "1",
language = "English (US)",
volume = "7",
pages = "4518--4524",
journal = "Proceedings of the American Control Conference",
issn = "0743-1619",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - BIBO stability of an adaptive time-frequency Iterative Learning Control with application to microscale robotic deposition

AU - Bristow, Douglas A.

AU - Alleyne, Andrew G

PY - 2005/9/1

Y1 - 2005/9/1

N2 - Microscale robotic deposition (μ-RD) is an emerging solid free-form manufacturing technique for construction of parts with microscale feature sizes. Part quality in this process is directly related to the robot tracking performance. In this paper an adaptive Iterative Learning Control algorithm using a time-varying Q-filter is presented for robust high performance tracking control of the μ-RD robot. Using a switched systems analysis, the existence of a minimum dwell time for BIBO stability is demonstrated. Experimental results show the ability of the adaptive algorithm to stably improve performance over the initial fixed filter. The recent development of multi-ink valves allows construction of parts with multiple materials interlaced throughout and a sample two-ink manufactured part is presented.

AB - Microscale robotic deposition (μ-RD) is an emerging solid free-form manufacturing technique for construction of parts with microscale feature sizes. Part quality in this process is directly related to the robot tracking performance. In this paper an adaptive Iterative Learning Control algorithm using a time-varying Q-filter is presented for robust high performance tracking control of the μ-RD robot. Using a switched systems analysis, the existence of a minimum dwell time for BIBO stability is demonstrated. Experimental results show the ability of the adaptive algorithm to stably improve performance over the initial fixed filter. The recent development of multi-ink valves allows construction of parts with multiple materials interlaced throughout and a sample two-ink manufactured part is presented.

UR - http://www.scopus.com/inward/record.url?scp=23944479357&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=23944479357&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:23944479357

VL - 7

SP - 4518

EP - 4524

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

SN - 0743-1619

M1 - FrB17.3

ER -