Title: | Iterative learning control in high-performance motion systems: From theory to implementation |
Authors: | Goubej, Martin Meeusen, Sven Mooren, Noud Oomen, Tom |
Citation: | GOUBEJ, M., MEEUSEN, S., MOOREN, N., OOMEN, T. Iterative learning control in high-performance motion systems: From theory to implementation. In: Proceedings 2019 24th IEEE InternationalConference on Emerging Technologiesand Factory Automation (ETFA). Zaragoza: University of Zaragoza, 2019. s. 851-856. ISBN 978-1-72810-303-7 , ISSN 1946-0740. |
Issue Date: | 2019 |
Document type: | konferenční příspěvek conferenceObject |
URI: | 2-s2.0-85074209777 http://hdl.handle.net/11025/36662 |
ISBN: | 978-1-72810-303-7 |
ISSN: | 1946-0740 |
Keywords in different language: | advanced feedforward control;basis-function ILC;frequency-domain ILC;iterative learning control;motion control;real-time systems |
Abstract in different language: | Iterative learning control (ILC) enables a perfect compensation for systems that perform the same task over and over again. The aim of this paper is to demonstrate practical applicability of two various state-of-the-art ILC algorithms to point-to-point positioning systems. A simple Frequency domain ILC approach is exploited focusing on systems with exactly repeating motion tasks. Furthermore, flexible ILC is employed to enable learning also for non-repeating tasks. Particular steps providing a seamless transfer from theory and algorithms to practical implementation in a real-time environment by means of industrial-grade SW and HW are given. They may serve as a practical example of a workflow suitable for a wide range of motion control applications. Potential benefits of the learning-type control in comparison with conventional feedback and feedforward control are discussed as well. |
Rights: | Plný text je přístupný v rámci univerzity přihlášeným uživatelům. © University of Zaragoza |
Appears in Collections: | Konferenční příspěvky / Conference Papers (KKY) OBD |
Files in This Item:
File | Size | Format | |
---|---|---|---|
Goubej_2019_IterativeLearningControl.pdf | 781,92 kB | Adobe PDF | View/Open Request a copy |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/36662
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.