Stochastic iterative learning control design for nonrepetitive events

Sandipan Mishra, Andrew Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a lifted domain ILC design technique for repetitive processes with significant non-repetitive disturbances. The learning law is based on the minimization of the expected value of a cost function (i.e., error norm) at each iteration. The derived learning law is iteration-varying and depends on the ratio of the covariance of non-repetitive component of the error to the covariance of the residual total error. This implies that in earlier iterations the learning is rapid (large learning gains) and as iterations go by, the algorithm is conservative and learns slowly. The proposed algorithm is also extended to the case where the learning filter is fixed and the optimal (iteration-varying) learning rate needs to be determined. Finally, the performance of the proposed method is evaluated vis-a-vis a geometrically decaying learning algorithm and an optimal fixed-rate learning algorithm through simulation of a Micro-robotic deposition system.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages1266-1271
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Mishra, S., & Alleyne, A. (2010). Stochastic iterative learning control design for nonrepetitive events. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 1266-1271). [5531132] (Proceedings of the 2010 American Control Conference, ACC 2010).