A frequency-domain approach for enhanced performance and task flexibility in finite-time ILC

被引：0

作者：

van Haren, Max ^{[1
]}

Tsurumoto, Kentaro ^{[2
]}

Mae, Masahiro ^{[2
]}

Blanken, Lennart ^{[1
,3
]}

Ohnishi, Wataru ^{[2
]}

Oomen, Tom ^{[1
,4
]}

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn, Control Syst Technol Sect, Eindhoven, Netherlands

[2] Univ Tokyo, Dept Elect Engn & Informat Syst, Tokyo, Japan

[3] Sioux Technol, Eindhoven, Netherlands

[4] Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands

来源：

EUROPEAN JOURNAL OF CONTROL | 2024年 / 80卷

关键词：

Iterative learning control; Feedforward control; Mechatronics; ITERATIVE LEARNING CONTROL; DESIGN;

D O I：

10.1016/j.ejcon.2024.101033

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to achieve both the task flexibility enabled by ILC with basis functions and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency- domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework.

引用

页数：7

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