Design of a linear time-varying cross-coupled iterative learning controller

Kira L. Barton; Douglas A. Bristow; Andrew G. Alleyne

doi:10.1109/ACC.2008.4587104

Design of a linear time-varying cross-coupled iterative learning controller

Kira L. Barton, Douglas A. Bristow, Andrew G. Alleyne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

Original language	English (US)
Title of host publication	2008 American Control Conference, ACC
Pages	3914-3920
Number of pages	7
DOIs	https://doi.org/10.1109/ACC.2008.4587104
State	Published - Sep 30 2008
Event	2008 American Control Conference, ACC - Seattle, WA, United States Duration: Jun 11 2008 → Jun 13 2008

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2008 American Control Conference, ACC
Country/Territory	United States
City	Seattle, WA
Period	6/11/08 → 6/13/08

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/ACC.2008.4587104

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title = "Design of a linear time-varying cross-coupled iterative learning controller",

abstract = "In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.",

author = "Barton, {Kira L.} and Bristow, {Douglas A.} and Alleyne, {Andrew G.}",

year = "2008",

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language = "English (US)",

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AU - Bristow, Douglas A.

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N2 - In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

AB - In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

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M3 - Conference contribution

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BT - 2008 American Control Conference, ACC

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Design of a linear time-varying cross-coupled iterative learning controller

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