NDLI: On learning transient and cutoff frequency tuning in ILC

Content Provider	IEEE Xplore Digital Library
Author	Bin Zhang Danwei Wang Yongqiang Ye
Copyright Year	2004
Description	Author affiliation: Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore (Bin Zhang; Danwei Wang; Yongqiang Ye)
Abstract	Many iterative learning control (ILC) design methods employ a low-pass filter to guarantee good learning behavior. To determine the cutoff frequency of the filter, a system model is often required. Because the inaccuracy of system model in practice, the learnable bandwidth obtained from the model is often chosen as a conservative value. This can severely underachieve in learning performance. In this paper, we address the learning transient and cutoff frequency tuning. Based on this, the learnable bandwidth of system can be tuned automatically so that the balance can be reached between good learning transient and tracking accuracy. The attractive properties include that the system model is not necessary and that the tracking error during this process is kept in an acceptable level. Experiments on a SCARA robot are carried out to illustrate the tuning process.
Starting Page	484
Ending Page	489
File Size	1410287
Page Count	6
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438968
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cutoff frequency Tuning Low pass filters Bandwidth Performance gain Design engineering Iterative methods Design methodology Robotics and automation Uncertainty
Content Type	Text
Resource Type	Article

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