Experimentally supported 2D systems based iterative learning control law design for error convergence and performance

被引：175

作者：

Hladowski, Lukasz ^{[2
]}

Galkowski, Krzysztof ^{[2
]}

Cai, Zhonglun ^{[1
]}

Rogers, Eric ^{[1
]}

Freeman, Chris T. ^{[1
]}

Lewin, Paul L. ^{[1
]}

机构：

[1] Univ Southampton, Sch Elect & Comp Sci, Southampton SO17 1BJ, Hants, England

[2] Univ Zielona Gora, Inst Control & Computat Engn, PL-65246 Zielona Gora, Poland

来源：

CONTROL ENGINEERING PRACTICE | 2010年 / 18卷 / 04期

关键词：

Iterative learning control; LMIs; Robustness; ROBOTS; MODEL;

D O I：

10.1016/j.conengprac.2009.12.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers iterative learning control law design for both trial-to-trial error convergence and along the trial performance. It is shown how a class of control laws can be designed using the theory of linear repetitive processes for this problem where the computations are in terms of linear matrix inequalities (LMIs). It is also shown how this setting extends to allow the design of robust control laws in the presence of uncertainty in the dynamics produced along the trials. Results from the experimental application of these laws on a gantry robot performing a pick and place operation are also given. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：339 / 348

页数：10

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