NDLI: Adaptive Iterative Learning Control for High Precision Motion Systems

Content Provider	IEEE Xplore Digital Library
Author	Rotariu, I. Steinbuch, M. Ellenbroek, R.
Copyright Year	1993
Abstract	Iterative learning control (ILC) is a very effective technique to reduce systematic errors that occur in systems that repetitively perform the same motion or operation. However, several characteristics have prevented standard ILC from being widely used for high precision motion systems. Most importantly, the learned feedforward signal depends on the motion profile (setpoint trajectory) and if this is altered, the learning process has to be repeated. Secondly, ILC amplifies non-repetitive disturbances and noise. Finally, its performance may be limited due to position-dependent dynamics. This paper presents the design and implementation of a time-frequency adaptive ILC that is applicable for motion systems which executes the same motion or operation. It employs the same control system block diagram as standard ILC, but instead of a fixed robustness filter it uses a time-varying filter. By using the results of the time-frequency adaptive ILC, i.e., the shape of the learned feedforward signal, a ldquopiecewise ILCrdquo is proposed that leads to the design of a single learned feedforward signal suitable for different setpoints. The results are experimentally shown to work for a high precision motion system.
Sponsorship	IEEE Control Systems Society
Starting Page	1075
Ending Page	1082
Page Count	8
File Size	666699
File Format	PDF
ISSN	10636536
Volume Number	16
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Motion control Control systems Filters Error correction Signal processing Robust control Time varying systems Shape time-varying filters Adaptive filtering learning control systems motion control time–frequency analysis
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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