Residual vibration suppression using Hankel iterative learning control

International Journal of Robust and Nonlinear Control

Volumn 18, Issue 10, 2008, Pages 1034-1051

  Van De Wijdeven, Jeroen ^a   Bosgra, Okko ^a  

^a EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Feedforward control; Input shaping; Iterative learning control; Point to point control; Residual vibration suppression

Indexed keywords

LATTICE VIBRATIONS; LEARNING ALGORITHMS; LEARNING SYSTEMS; POLARIZATION; SPECIFICATIONS; TWO TERM CONTROL SYSTEMS; VIBRATION CONTROL; VIBRATIONS (MECHANICAL);

CONTROL STRATEGIES; CONVERGENCE (MATHEMATICS); FLEXIBLE SYSTEMS; IN ORDER; ITERATIVE LEARNING CONTROL ( ILC); MAXIMUM AMPLITUDE; NEW APPROACHES; OBSERVATION TIME; PERFORMANCE SPECIFICATIONS; POINT-TO-POINT (PTP); POINT-TO-POINT MOTION; RESIDUAL VIBRATION SUPPRESSION; RESIDUAL VIBRATIONS;

VIBRATORS;

EID: 46949110151     PISSN: 10498923     EISSN: 10991239     Source Type: Journal    
DOI: 10.1002/rnc.1228     Document Type: Article

References (30)

1. de Roover D. Motion control of a wafer stage. Ph.D. Thesis, Delft University of Technology, 1997. ISBN: 90-47-1562-9.
2. Singer N, Singhose W, Seering W. Comparison of filtering methods for reducing residual vibration. European Journal of Control 1999; 5:208-218.
3. Singh T, Singhose W. Tutorial on input shaping/time delay control of maneuvering flexible structures. Proceedings of the American Control Conference, Anchorage, AK, U.S.A., 8-10 May 2002; 1717-1731.
4. Cutforth CF, Pao LY. Adaptive input shaping for maneuvering flexible structures. Automatica 2004; 40:685-693.
5. Rhim S, Book WJ. Adaptive time-delay command shaping filter for flexible manipulator control. IEEE/ASME Transactions on Mechatronics 2004; 9(4):619-626.
6. Tzes A, Yurkovich S. An adaptive input shaping control scheme for vibration suppression in slewing flexible structures. IEEE Transaction on Control Systems Technology 1993; 1(2):114-121.
7. Moore KL. Iterative Learning Control for Deterministic Systems. Springer: London, 1993. ISBN: 3-540-19707-9.
8. Moore KL. Iterative learning control-an expository overview. Applied and Computational Controls, Signal Processing, and Circuits 1999; 1:151-214.
9. Xu J-X, Tan Y. Linear and Nonlinear Iterative Learning Control. Springer: Berlin, 2003. ISBN: 3-540-40173-3.
10. Bristow DA, Tharayil M, Alleyne AG. A survey of iterative learning control - a learning-based method for high-performance tracking control. Control Systems Magazine 2006; 26(3):96-114.
11. Amann N, Owens DH, Rogers E. Iterative learning control using optimal feedback and feedforward actions. International Journal of Control 1996; 65(2):277-293.
12. Avrachenkov KE, Longman RW. Iterative learning control for over-determined, under-determined, and illconditioned systems. International Journal of Applied Mathematics and Computer Science 2003; 13(1):113-122.
13. Tao KM, Kosut RL, Aral G. Learning feedforward control. Proceedings of the American Control Conference, Baltimore, MD, U.S.A., June 1994; 2575-2579.
14. Gunnarsson S, Norrlöf M. On the design of ILC algorithms using optimization. Automatica 2001; 37:2011-2016.
15. Chen Y, Xu J-X, Wen C. A high-order terminal iterative learning control scheme. Proceedings of the 36th Conference on Decision and Control, San Diego, CA, U.S.A., December 1997; 3771-3772.
16. Xu J-X, Chen Y-Q, Lee TH, Yamamoto S. Terminal iterative learning control with an application to RTPCVD thickness control. Automatica 1999; 35:1535-1542.
17. Gauthier G, Boulet B. Convergence analysis of terminal ILC in the z-domain. Proceedings of the American Control Conference, Portland, OR, U.S.A., 8-10 June 2005; 184-189.
18. Lucibello P. Output zeroing with internal stability by learning. Automatica 1995; 31(11):1665-1672.
19. Lucibello P, Panzieri S, Ulivi G. Repositioning control of a two-link flexible arm by learning. Automatica 1997; 33(4):579-590.
20. Dijkstra BG, Bosgra OH. Exploiting iterative learning control for input shaping with application to a wafer stage. Proceedings of the American Control Conference, Denver, CO, U.S.A., 4-6 June 2003; 4811-4815.
21. van Oosten CL, Bosgra OH, Dijkstra BG. Reducing residual vibrations through iterative learning control, with application to a wafer stage. Proceedings of the American Control Conference, Boston, MA, U.S.A., 30 June-2 July 2004; 5150-5155.
22. van de Wijdeven JJM, Bosgra OH. Residual vibration suppression using Hankel iterative learning control. Proceedings of the American Control Conference, Minneapolis, MN, U.S.A., 14-16 June 2006; 1778-1783.
23. van de Wijdeven JJM, Bosgra OH. Stabilizability, performance, and the choice of actuation and observation time windows in iterative learning control. Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, U.S.A., 13-15 December 2006; 5042-5047.
24. van de Wijdeven JJM, Bosgra OH. Hankel iterative learning control for residual vibration suppression with MIMO flexible structure experiments. Proceedings of the American Control Conference, New York, NY, U.S.A., 11-13 July 2007.
25. Rugh WJ. Linear System Theory. Prentice-Hall: Englewood Cliffs, NJ, 1993. ISBN: 0-13-555038-6.
26. Norrlöf M, Gunnarsson S. Time and frequency domain convergence properties in iterative learning control. International Journal of Control 2002; 75(14):1114-1126.
27. Ben-Israel A, Greville TNE. Generalized Inverses: Theory and Applications. Wiley/Interscience: New York, 1974.
28. Vidyasagar M. Optimal rejection of persistent bounded disturbances. IEEE Transactions on Automatic Control 1986; 31(6):527-534.
29. Owens DH, Rogers E, Moore KL. Analysis of linear iterative learning control schemes using repetitive process theory. Asian Journal of Control 2002; 4(1):68-89.
30. Norrlöf M, Gunnarsson S. A note on causal and CITE iterative learning control algorithms. Automática 2005; 41:345-350.