Optimization-based constrained iterative learning control

IEEE Transactions on Control Systems Technology

Volumn 19, Issue 6, 2011, Pages 1613-1621

  Mishra, Sandipan ^a   Topcu, Ufuk ^b   Tomizuka, Masayoshi ^c  

^a RENSSELAER POLYTECHNIC INSTITUTE   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^c UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Constrained optimization; iterative learning control (ILC); optimization

Indexed keywords

ACTIVE SET METHODS; ACTUATOR SATURATIONS; AFFINE CONSTRAINTS; COMPUTATIONALLY EFFICIENT; CONSTRAINED LINEAR SYSTEMS; INTERIOR-POINT METHOD; ITERATIVE LEARNING CONTROL; NUMBER OF ITERATIONS; NUMERICAL TOOLS; OBJECTIVE FUNCTIONS; OPTIMIZATION PROBLEMS; QUADRATIC OBJECTIVE FUNCTIONS; QUADRATIC PROGRAMS; REPETITIVE TASK; SIMULATION EXAMPLE; TRACKING ERRORS; WAFER STAGE;

COMPUTATIONAL COMPLEXITY; CONSTRAINED OPTIMIZATION; CONVEX OPTIMIZATION; EXPERIMENTS; LEARNING ALGORITHMS; LINEAR SYSTEMS; OPTIMIZATION;

TWO TERM CONTROL SYSTEMS;

EID: 80052883809     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2010.2083663     Document Type: Article

References (33)

1. M. Uchiyama, "Formulation of high-speed motion pattern of amechanical arm by trial," Trans. Soc. Instrum. Control Eng., vol. 14, no. 6, pp. 706-712, 1978.
2. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operation of robots by learning," J. Robot. Syst., vol. 1, no. 2, pp. 123-140, 1984.
3. D. D. Roover and O. Bosgra, "Synthesis of robust multivariable iterative learning controllers with application to a wafer stage motion system," Int. J. Control, vol. 73, no. 10, pp. 968-979, 2000. (Pubitemid 35395406)
4. H.-S. Ahn, Y. Chen, and K. Moore, "Iterative learning control: Brief survey and categorization," IEEE Trans. Syst., Man, Cybern. C, vol. 37, no. 6, pp. 1099-1121, Nov. 2007. (Pubitemid 350153305)
5. D. Bristow, M. Tharayil, and A. Alleyne, "A survey of iterative learning control," IEEE Control Syst.Mag., vol. 26, no. 3, pp. 96-114, Jun. 2006.
6. J. Hatonen, Issues of Algebra and Optimality in Iterative Learning Control. Oulu, Finland: Univ. of Oulu, 2004.
7. D. H. Owens and J. Hatonen, "Iterative learning control-An optimization paradigm," Annu. Rev. Control, vol. 29, no. 1, pp. 57-70, 2005. (Pubitemid 40710090)
8. S. Gunnarsson and M. Norrlof, "On the design of ilc algorithms using optimization," Automatica, vol. 37, no. 1, pp. 2011-2016, 2001. (Pubitemid 32951298)
9. D. Owens and S. Daley, "Robust gradient iterative learning control: Time and frequency domain conditions," Int. J. Modelling, Identification Control, vol. 4, pp. 315-322, 2008.
10. Y. Hong and B. Yao, "A globally stable high-performance adaptive robust control algorithm with input saturation for precision motion control of linear motor drive systems," IEEE/ASME Trans. Mechatron., vol. 12, no. 2, pp. 198-207, Apr. 2007. (Pubitemid 46629542)
11. P.-C. Chen and J. S. Shamma, "Gain-scheduled l1-optimal control for boiler-turbine dynamics with actuator saturation," J. Process Control, vol. 14, no. 3, pp. 263-277, 2004.
12. C.-T. Chen and S.-T. Peng, "Learning control of process systems with hard input constraints," J. Process Control, vol. 9, no. 2, pp. 151-160, 1999.
13. B. J. Driessen, N. Sadegh, and K. S. Kwok, "Multi-input square iterative learning control with input rate limits and bounds," IEEE Trans. Syst., Man, Cybern. B, vol. 32, no. 4, pp. 545-550, Aug. 2002.
14. J.-X. X. Z. Houa and J. Yana, "An iterative learning approach for density control of freeway traffic flow via ramp metering," Transport. Res. C: Emerging Technol., vol. 16, no. 1, pp. 71-97, 2008.
15. J.-X. Xu, Y. Tan, and T.-H. Lee, "Iterative leaning control design based on composite energy function with input saturation," Automatica, vol. 40, no. 8, pp. 1371-1377, 2004.
16. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge, U.K.: Cambridge Univ. Press, 2004.
17. A. Ben-Tal and A. Nemirovski, Lectures on Modern Convex Optimization: Analysis, Algorithms, and Engineering Applications. Philadelphia, PA: MPS-SIAM Series on Optimization, 2001.
18. D. G. Luenberger, Linear and Nonlinear Programming. New York: Springer, 2003.
19. A. Bjorck, Numerical Methods for Least Squares Problems. Philadelphia, PA: SIAM, 1996.
20. R. Fletcher, Practical Methods of Optimization, 2nd ed. New York: Wiley, 1991.
21. D. Owens, N. Amann, E. Rogers, and M. French, "Analysis of linear iterative learning control schemes-A 2-D systems/repetitive processes approach," Multidimens. Syst. Signal Process., vol. 11, pp. 125-177, 2000.
22. P. Khargonekar, K. Poolla, and A. Tannenbaum, "Robust control of linear time-invariant plants using periodic compensation," IEEE Trans. Autom. Control, vol. AC-30, no. 11, pp. 1088-1096, Nov. 1985. (Pubitemid 16524711)
23. S. Saab, "Optimal selection of the forgetting matrix into an iterative learning control algorithm," IEEE Trans. Autom. Control, vol. 50, no. 12, pp. 2039-2043, Dec. 2005. (Pubitemid 43056316)
24. M. Norrlof and S. Gunnarsson, "Time and frequency domain convergence properties in iterative learning control," Int. J. Control, vol. 75, pp. 1114-1126, 2002. (Pubitemid 35359192)
25. J. J. Hatonen, D. H. Owens, and K. L. Moore, "An algebraic approach to iterative learning control," Int. J. Control, vol. 77, pp. 45-54, 2004.
26. N. Amann, D. H. Owens, and E. Rogers, "Iterative learning control using optimal feedback and feedforward actions," Int. J. Control, vol. 65, no. 2, pp. 277-293, 1996. (Pubitemid 126519459)
27. N. Amann, H. Owens, and E. Rogers, "Iterative learning control for discrete-time systems with exponential rate of convergence," Proc. Inst. Elect. Eng.-Control Theory Applic., vol. 143, no. 2, pp. 217-224, 1996. (Pubitemid 126760895)
28. Y. Nesterov and A. Nemirovskii, Interior Point Polynomial Methods in Convex Programming: Theory and Applications. Philadelphia, PA: SIAM, 1994.
29. G. H. Golub and C. F. V. Loan, Matrix Computations, 3rd ed. Baltimore, MD: The Johns Hopkins Univ. Press, 1996.
30. B. Dijkstra, Iterative Learning Control With Application to a Wafer Stage. Delft, The Netherlands: Delft Univ. Press, 2003.
31. S. H. van der Meulen, R. L. Tousain, and O. H. Bosgra, "Fixed structure feedforward controller design exploiting iterative trials: Application to a wafer stage and a desktop printer," J. Dynam. Syst., Meas., Control, vol. 130, no. 5, pp. 1-16, 2008.
32. S. Mishra and M. Tomizuka, "Precision positioning of wafer scanners: An application of segmented iterative learning control," IEEE Control Syst. Mag., vol. 27, no. 4, pp. 20-25, 2007. (Pubitemid 47225412)
33. H.-S. Ahn, K. L. Moore, and Y. Chen, Iterative Learning Control: Robustness and Monotonic Convergence for Interval Systems. New York: Springer, 2007.