NDLI: Spatial-based iterative learning control for motion control applications

Content Provider	Springer Nature Link
Author	Moore, Kevin L. Ghosh, Mohua Chen, Yang Quan
Copyright Year	2007
Abstract	For many motion control applications spatial constraints are often more important than temporal constraints. In recent work, we have developed a spatial control strategy called the ε-controller for mobile robot applications. The control strategy is based solely on static path geometry with position (in space) feedback. Motivated by this idea, in this paper, we consider the notion of spatial-based iterative learning control (ILC). Specifically, we consider repetitive operation problems where corrections are made to the control signal from trial to trial. Unlike traditional ILC, however, which updates control signals based on the time elapsed along a trajectory, we instead make updates based on path errors and progress along the path. The idea is demonstrated via simulation for a system with bang–bang velocity control. Experimental results using a high-precision, two-axis gimbal mechanism are presented to show the effectiveness of the strategy.
Starting Page	167
Ending Page	175
Page Count	9
File Format	PDF
ISSN	00256455
Journal	Meccanica
Volume Number	42
Issue Number	2
e-ISSN	15729648
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2007-02-14
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Iterative learning Motion control Spatial control Mechanics of machines Mechanical Engineering Automotive and Aerospace Engineering, Traffic Civil Engineering Mechanics
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Condensed Matter Physics Mechanical Engineering

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