TY - GEN
T1 - Optimal time-varying ILC design to monotonically minimize converged error
AU - Tharayil, Marina
AU - Alleyne, Andrew
PY - 2005
Y1 - 2005
N2 - This paper presents a design method for Iterative Learning Control (ILC) algorithms using time-varying Q-filters. The design of an optimal bandwidth profile for a given plant model is formulated as a constrained minimization problem. The resultant time-varying ILC algorithm generates the lowest converged error norm possible while guaranteeing monotonic convergence. The time-varying ILC background, problem setup to optimize the time-varying Q-filter bandwidth, as well as results obtained using computational methods are presented. A simulation example is used to demonstrate the potential benefits of the algorithm in comparison with LTI ILC. Lastly, experimental validation is provided by application of the ILC algorithm developed here on a Microscale Robotic Deposition system for precision motion control.
AB - This paper presents a design method for Iterative Learning Control (ILC) algorithms using time-varying Q-filters. The design of an optimal bandwidth profile for a given plant model is formulated as a constrained minimization problem. The resultant time-varying ILC algorithm generates the lowest converged error norm possible while guaranteeing monotonic convergence. The time-varying ILC background, problem setup to optimize the time-varying Q-filter bandwidth, as well as results obtained using computational methods are presented. A simulation example is used to demonstrate the potential benefits of the algorithm in comparison with LTI ILC. Lastly, experimental validation is provided by application of the ILC algorithm developed here on a Microscale Robotic Deposition system for precision motion control.
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U2 - 10.1115/IMECE2005-79186
DO - 10.1115/IMECE2005-79186
M3 - Conference contribution
AN - SCOPUS:33645656977
SN - 0791842169
SN - 9780791842164
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 3
EP - 10
BT - Proceedings of the ASME Dynamic Systems and Control Division 2005
T2 - 2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Y2 - 5 November 2005 through 11 November 2005
ER -