Design and convergence of a time-varying iterative learning control law

Marina Tharayil, Andrew G Alleyne

Research output: Contribution to conferencePaper

Abstract

This paper presents a novel linear time-varying (LTV) iterative learning control law that can provide additional performance while maintaining the robustness and convergence properties comparable to those obtained using traditional frequency domain design techniques. Design aspects of causal and non-causal linear time-invariant (LTI), along with the proposed LTV, ILC update laws are discussed and demonstrated using a simplified example. Asymptotic as well as monotonic convergence, robustness and performance characteristics of such systems are considered, and an equivalent condition to the frequency domain convergence condition is presented for the time-varying ILC. Lastly the ILC algorithm developed here is implemented on a Microscale Robotic Deposition system to provide experimental verification.

Original languageEnglish (US)
Pages91-97
Number of pages7
DOIs
StatePublished - Jan 1 2004
Event2004 ASME International Mechanical Engineering Congress and Exposition, IMECE - Anaheim, CA, United States
Duration: Nov 13 2004Nov 19 2004

Other

Other2004 ASME International Mechanical Engineering Congress and Exposition, IMECE
CountryUnited States
CityAnaheim, CA
Period11/13/0411/19/04

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Robotics

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

Cite this

Tharayil, M., & Alleyne, A. G. (2004). Design and convergence of a time-varying iterative learning control law. 91-97. Paper presented at 2004 ASME International Mechanical Engineering Congress and Exposition, IMECE, Anaheim, CA, United States. https://doi.org/10.1115/IMECE2004-61558

Design and convergence of a time-varying iterative learning control law. / Tharayil, Marina; Alleyne, Andrew G.

2004. 91-97 Paper presented at 2004 ASME International Mechanical Engineering Congress and Exposition, IMECE, Anaheim, CA, United States.

Research output: Contribution to conferencePaper

Tharayil, M & Alleyne, AG 2004, 'Design and convergence of a time-varying iterative learning control law', Paper presented at 2004 ASME International Mechanical Engineering Congress and Exposition, IMECE, Anaheim, CA, United States, 11/13/04 - 11/19/04 pp. 91-97. https://doi.org/10.1115/IMECE2004-61558
Tharayil M, Alleyne AG. Design and convergence of a time-varying iterative learning control law. 2004. Paper presented at 2004 ASME International Mechanical Engineering Congress and Exposition, IMECE, Anaheim, CA, United States. https://doi.org/10.1115/IMECE2004-61558
Tharayil, Marina ; Alleyne, Andrew G. / Design and convergence of a time-varying iterative learning control law. Paper presented at 2004 ASME International Mechanical Engineering Congress and Exposition, IMECE, Anaheim, CA, United States.7 p.
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