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


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
StatePublished - Sep 1 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005


ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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