Optimization-based iterative learning control for trajectory tracking

2009 European Control Conference, ECC 2009

Volumn , Issue , 2014, Pages 1505-1510

  Schollig, Angela ^a   D'Andrea, Raffaello ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

Convex programming; Inverted pendulum; Iterative learning control; Kalman filtering; State and input constraints; Swing up

Indexed keywords

CONVEX OPTIMIZATION; ITERATIVE METHODS; KALMAN FILTERS; LEARNING SYSTEMS; PENDULUMS; TWO TERM CONTROL SYSTEMS;

INVERTED PENDULUM; ITERATIVE LEARNING CONTROL; KALMAN-FILTERING; STATE AND INPUT CONSTRAINTS; SWING-UP;

LEARNING ALGORITHMS;

EID: 84955189549     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.2009.7074619     Document Type: Conference Paper

References (25)

1. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operation of robots by learning," Journal of Robotic Systems, vol. 1, no. 2, pp. 123-140, 1984.
2. D. A. Bristow, M. Tharayil, and A. G. Alleyne, "A survey of iterative learning control," IEEE Control Systems Magazine, vol. 26, no. 3, pp. 96-114, 2006.
3. H.-S. Ahn, K. L. Moore, and Y. Chen, Iterative Learning Control: Robustness and Monotonic Convergence for Interval Systems (Communications and Control Engineering), 1st ed. Springer, 2007.
4. M. Q. Phan and R. W. Longman, "A mathematical theory of learning control for linear discrete multivariable systems," in Proceedings of the AIAA/AAS Astrodynamics Conference, 1988, pp. 740-746.
5. K. L. Moore, "Multi-loop control approach to designing iterative learning controllers," in Proceedings of the 37th IEEE Conference on Decision and Control, vol. 1, 1998, pp. 666-671.
6. N. Amann, D. H. Owens, and E. Rogers, "Iterative learning control using optimal feedback and feedforward actions," International Journal of Control, vol. 65, no. 2, pp. 277-293, 1996.
7. K. s. S. Lee, J. Lee, I. Chin, J. Choi, and J. H. Lee, "Control of wafer temperature uniformity in rapid thermal processing using an optimal iterative learning control technique," Industrial and Engineering Chemistry Research, vol. 40, no. 7, pp. 1661-1672, 2001.
8. M. Cho, Y. Lee, S. Joo, and K. S. Lee, "Semi-empirical modelbased multivariable iterative learning control of an RTP system," IEEE Transactions on Semiconductor Manufacturing, vol. 18, no. 3, pp. 430-439, 2005.
9. R. Tousain, E. van der Meche, and O. Bosgra, "Design strategy for iterative learning control based on optimal control," in Proceedings of the 40th IEEE Conference on Decision and Control, vol. 5, 2001, pp. 4463-4468.
10. J. K. Rice and M. Verhaegen, "Lifted repetitive learning control for stochastic ltv systems: A structured matrix approach," Automatica, 2007, submitted.
11. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge University Press, 2004.
12. Y. Chen and C. Wen, Iterative Learning Control: Convergence, Robustness and Applications (Lecture Notes in Control and Information Sciences), 1st ed. Springer, 1999.
13. B. Bamieh, J. B. Pearson, B. A. Francis, and A. Tannenbaum, "A lifting technique for linear periodic systems with applications to sampled-data control," Systems & Control Letters, vol. 17, no. 2, pp. 79-88, 1991.
14. M. Norrlöf and S. Gunnarsson, "Time and frequency domain convergence properties in iterative learning control," International Journal of Control, vol. 75, no. 14, pp. 1114-1126, 2002.
15. R. W. Longman, "Iterative learning control and repetitive control for engineering practice," International Journal of Control, vol. 73, no. 10, pp. 930-954, 2000.
16. I. Chin, S. J. Qin, K. S. Lee, and M. Cho, "A two-stage iterative learning control technique combined with real-time feedback for independent disturbance rejection," Automatica, vol. 40, no. 11, pp. 1913-1922, 2004.
17. B. D. O. Anderson and J. B. Moore, Optimal Filtering (Dover Books on Engineering). Dover Publications, 2005.
18. C. K. Chui and G. Chen, Kalman Filtering: with Real-Time Applications (Springer Series in Information Sciences). Springer, 1998.
19. ILOG, Inc., "ILOG CPLEX: High-performance software for mathematical programming and optimization," 2008, http://www. ilog. com/products/cplex/.
20. F. L. Chernousko and S. A. Reshmin, "Time-optimal swing-up feedback control of a pendulum," Nonlinear Dynamics, vol. 47, no. 1, pp. 65-73, 2007.
21. K. Furuta, M. Yamakita, and S. Kobayashi, "Swing up control of inverted pendulum," in Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation, vol. 3, 1991, pp. 2193-2198.
22. K. Yoshida, "Swing-up control of an inverted pendulum by energybased methods," in Proceedings of the American Control Conference the 1999, vol. 6, 1999, pp. 4045-4047.
23. D. Chatterjee, A. Patra, and H. s. K. Joglekar, "Swing-up and stabilization of a cart-pendulum system under restricted cart track length," Systems & control letters, vol. 47, no. 4, pp. 355-364, 2002.
24. M. Riedmiller, "Neural reinforcement learning to swing-up and balance a real pole," in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, vol. 4, 2005, pp. 3191-3196.
25. S. A. Campbell, S. Crawford, and K. Morris, "Friction and the inverted pendulum stabilization problem," Journal of Dynamic Systems, Measurement, and Control, vol. 130, 2008.