NDLI: Basis Task Approach to Iterative Learning Control With Applications to Micro-Robotic Deposition

Content Provider	IEEE Xplore Digital Library
Author	Hoelzle, D.J. Alleyne, A.G. Johnson, A.J.W.
Copyright Year	1993
Abstract	Two basic requirements in iterative learning control (ILC), among others, are trial-to-trial trajectory invariance and system dynamics invariance. The ILC algorithm must be reinitiated if either the trajectory or system dynamics vary in-between trials. Here, we introduce a framework that flexibly applies ILC such that trajectory and system dynamics constraints are alleviated. The framework exploits the characteristic that many manufacturing operations are comprised of a set of repeated tasks, termed basis tasks here. Instead of applying ILC to the complete operation trajectory, the correct input signal to accurately perform each constitutive basis task is identified by ILC in a training routine. After basis task training, the corresponding input signals, termed basis signals, are applied in a coordinated manner based on instructions from task-oriented machine languages, such as the pervasive G-Code. This framework allows the reference trajectory to be arbitrarily chosen, provided it is comprised of the defined basis tasks. Key definitions, assumptions, and a general application with performance bounds are detailed. An example application on a micro-robotic deposition (μRD) rapid prototyping system displays the utility of the framework in fabricating two distinct structures without reinitiating the ILC algorithm in-between manufacturing operations.
Sponsorship	IEEE Control Systems Society
Starting Page	1138
Ending Page	1148
Page Count	11
File Size	1533001
File Format	PDF
ISSN	10636536
Volume Number	19
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Training Flexible manufacturing systems Heuristic algorithms synthetic bone scaffolds Flexible manufacturing iterative learning control (ILC) micro-robotic deposition rapid prototyping solid free-form fabrication
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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