Cross-Coupled Iterative Learning Control for Complex Systems: A Monotonically Convergent and Computationally Efficient Approach

Autor:	Aarnoudse, Leontine, Kon, Johan, Classens, Koen, van Meer, Max, Poot, Maurice, Tacx, Paul, Strijbosch, Nard, Oomen, Tom
Rok vydání:	2022
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Cross-coupled iterative learning control (ILC) can achieve high performance for manufacturing applications in which tracking a contour is essential for the quality of a product. The aim of this paper is to develop a framework for norm-optimal cross-coupled ILC that enables the use of exact contour errors that are calculated offline, and iteration- and time-varying weights. Conditions for the monotonic convergence of this iteration-varying ILC algorithm are developed. In addition, a resource-efficient implementation is proposed in which the ILC update law is reframed as a linear quadratic tracking problem, reducing the computational load significantly. The approach is illustrated on a simulation example. Comment: To appear in Conference on Decision and Control 2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2209.05155 Zobrazit plný text záznamu View this record from Arxiv