Abstract
This paper combines previously developed non-lifted norm optimal iterative learning control (NNOILC) with a cross coupled formulation resulting in a cross-coupled non-lifted norm optimal iterative learning control (cross-coupled NNOILC). The objective is to improve the contour tracking performance in precision motion control of multi-axis systems while retaining the computational efficiency properties of the NNOILC. The NNOILC is able to provide many of the same design advantages of norm optimal ILC (NOILC) without the restrictions on trial size. Convergence and robustness properties are provided and shown to be similar to previous efforts in NNOILC. To demonstrate the proposed approach, experiments on a multi-axis robotic testbed are given.
Original language | English (US) |
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Title of host publication | 19th IFAC World Congress IFAC 2014, Proceedings |
Editors | Edward Boje, Xiaohua Xia |
Publisher | IFAC Secretariat |
Pages | 2046-2051 |
Number of pages | 6 |
ISBN (Electronic) | 9783902823625 |
DOIs | |
State | Published - 2014 |
Externally published | Yes |
Event | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: Aug 24 2014 → Aug 29 2014 |
Publication series
Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
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Volume | 19 |
ISSN (Print) | 1474-6670 |
Other
Other | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 |
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Country/Territory | South Africa |
City | Cape Town |
Period | 8/24/14 → 8/29/14 |
Bibliographical note
Funding Information:This work was supported in part by the International Cooperation Program (Grant # 61120106009) of the National Science Foundation of China.
Publisher Copyright:
© IFAC.