Norm-optimal iterative learning control with intermediate point weighting: Theory, algorithms, and experimental evaluation

IEEE Transactions on Control Systems Technology

Volumn 21, Issue 3, 2013, Pages 999-1007

  Owens, David H ^a,b   Freeman, Christopher T ^b   Van Dinh, Thanh ^b  

^a UNIVERSITY OF SHEFFIELD   (United Kingdom)

^b UNIVERSITY OF SOUTHAMPTON   (United Kingdom)

Author keywords

Iterative learning control (ILC); iterative methods; learning control systems; linear systems; motion control; non minimum phase systems; optimization methods; test facilities

Indexed keywords

CONVERGENCE PROPERTIES; EXPERIMENTAL EVALUATION; ITERATIVE LEARNING CONTROL; LEARNING CONTROL SYSTEMS; NON-MINIMUM PHASE SYSTEMS; NORM-OPTIMAL ITERATIVE LEARNING CONTROL; OPTIMIZATION METHOD; TIME POINTS;

ITERATIVE METHODS; LINEAR SYSTEMS; MOTION CONTROL; TEST FACILITIES;

TWO TERM CONTROL SYSTEMS;

EID: 84876810700     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2012.2196281     Document Type: Article

References (26)

1. S. Arimoto, F. Miyazaki, and S. Kawamura, "Bettering operation of robots by learning," J. Robot. Syst., vol. 1, no. 2, pp. 123-140, 1984.
2. D. A. Bristow, M. Tharayil, and A. G. Alleyne, "A survey of iterative learning control a learning-based method for high-performance tracking control," IEEE Control Syst. Mag., vol. 26, no. 3, pp. 96-114, Jun. 2006. (Pubitemid 43840615)
3. H.-S. Ahn, Y. Chen, and K. L. Moore, "Iterative learning control: Brief survey and categorization 1998-2004," IEEE Trans. Syst. Man Cybern. C, vol. 37, no. 6, pp. 1099-1121, Nov. 2007. (Pubitemid 350153305)
4. K. Kinosita, T. Sogo, and N. Adachi, "Iterative learning control using adjoint systems and stable inversion," Asian J. Control, vol. 4, no. 1, pp. 60-67, 2002. (Pubitemid 35020668)
5. D. H. Owens, J. J. Hätönen, and S. Daley, "Robust monotone gradientbased discrete-time iterative learning control," Int. J. Robust Nonlinear Control, vol. 19, no. 6, pp. 634-661, 2009.
6. 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)
7. S. Gunnarsson and M. Norrlof, "On the design of ILC algorithms using optimization," Automatica, vol. 37, no. 12, pp. 2011-2016, 2001. (Pubitemid 32951298)
8. J. Lee, K. Lee, and W. Kim, "Model-based iterative learning control with a quadratic criterion for time-varying linear systems," Automatica, vol. 36, no. 5, pp. 641-657, 2000. (Pubitemid 30578676)
9. K. L. Barton and A. G. Alleyne, "A norm optimal approach to time-varying ILC with application to a multi-axis robotic testbed," IEEE Trans. Control Syst. Technol., vol. 19, no. 1, pp. 166-180, Jan. 2011.
10. E. Rogers, D. H. Owens, H. Werner, C. T. Freeman, P. L. Lewin, S. Kichhoff, C. Schmidt, and G. Lichtenberg, "Norm optimal iterative learning control with application to problems in accelerator based free electron lasers and rehabilitation robotics," Eur. J. Control, vol. 16, no. 5, pp. 497-524, 2010.
11. C. T. Freeman, A. M. Hughes, J. H. Burridge, P. H. Chappell, P. L. Lewin, and E. Rogers, "Iterative learning control of FES applied to the upper extremity for rehabilitation," Control Eng. Pract., vol. 17, no. 3, pp. 368-381, 2009.
12. N. Amann, D. H. Owens, and E. Rogers, "Iterative learning control for discrete-time systems with exponential rate of convergence," IEE Proc. Control Theory Appl., vol. 143, no. 2, pp. 217-224, Mar. 1996. (Pubitemid 126760895)
13. N. Amann, D. H. Owens, and E. Rogers, "Predictive optimal iterative learning control," Int. J. Control, vol. 69, no. 2, pp. 203-226, 1998. (Pubitemid 128607857)
14. D. H. Owens and B. Chu, "Accelerated norm-optimal iterative learning control algorithms using successive projection," Int. J. Control, vol. 82, no. 8, pp. 1469-1484, 2009.
15. B. Chu and D. H. Owens, "Iterative learning control for constrained linear systems," Int. J. Control, vol. 83, no. 7, pp. 1397-1413, 2010.
16. D. H. Owens and B. Chu, "Modelling of non-minimum phase effects in discrete-time norm optimal iterative learning control," Int. J. Control, vol. 83, no. 10, pp. 2012-2027, 2010.
17. G. Gauthier and B. Boulet, "Robust design of terminal ILC with H? mixed sensitivity approach for a thermoforming oven," J. Manuf. Sci. Eng., vol. 2008, pp. 1-6, May 2008.
18. Y. Wang and Z. Hou, "Terminal iterative learning control based station stop control of a train," Int. J. Control, vol. 84, no. 7, pp. 1263-1274, 2011.
19. J.-X. Xu and D. Huang, "Initial state iterative learning for final state control in motion systems," Automatica, vol. 44, no. 12, pp. 3162-3169, 2008.
20. Y. Chen and J.-X. Xu, "A high-order terminal iterative learning control scheme[RTP-CVD application]," in Proc. 36th IEEE Conf. Decision Control, San Diego, CA, Dec. 1997, pp. 3771-3772.
21. J.-X. Xu, Y. Chen, T. Lee, and S. Yamamoto, "Terminal iterative learning control with an application to RTPCVD thickness control," Automatica, vol. 35, no. 9, pp. 1535-1542, 1999.
22. T. D. Son and H. S. Ahn, "Terminal iterative learning control with multiple intermediate pass points," in Proc. Amer. Control Conf., Jun.-Jul. 2011, pp. 3651-3656.
23. C. T. Freeman and Y. Tan, "Iterative learning control with mixed constraints for point-to-point tracking," IEEE Trans. Control Syst. Technol., 2012, to be published.
24. C. T. Freeman, Z. Cai, E. Rogers, and P. L. Lewin, "Iterative learning control for multiple point-to-point tracking application," IEEE Trans. Control Syst. Technol., vol. 19, no. 3, pp. 590-600, May 2011.
25. S. G. Hwang, "Cauchy's interlace theorem for eigenvalues of Hermitian matrices," Amer. Math. Monthly, vol. 111, no. 2, pp. 157-159, 2004.
26. C. T. Freeman, P. L. Lewin, and E. Rogers, "Further results on the experimental evaluation of iterative learning control algorithms for nonminimum-phase plants," Int. J. Control, vol. 80, no. 4, pp. 569-582, 2007. (Pubitemid 46361492)