Design of a linear time-varying cross-coupled iterative learning controller

Kira L. Barton; Douglas A. Bristow; Andrew G. Alleyne

doi:10.1109/ACC.2008.4587104

Design of a linear time-varying cross-coupled iterative learning controller

Kira L. Barton
, Douglas A. Bristow
, Andrew G. Alleyne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

Original language	English (US)
Title of host publication	2008 American Control Conference, ACC
Pages	3914-3920
Number of pages	7
DOIs	https://doi.org/10.1109/ACC.2008.4587104
State	Published - 2008
Externally published	Yes
Event	2008 American Control Conference, ACC - Seattle, WA, United States Duration: Jun 11 2008 → Jun 13 2008

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2008 American Control Conference, ACC
Country/Territory	United States
City	Seattle, WA
Period	6/11/08 → 6/13/08

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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10.1109/ACC.2008.4587104

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title = "Design of a linear time-varying cross-coupled iterative learning controller",

abstract = "In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.",

author = "Barton, \{Kira L.\} and Bristow, \{Douglas A.\} and Alleyne, \{Andrew G.\}",

year = "2008",

doi = "10.1109/ACC.2008.4587104",

language = "English (US)",

isbn = "9781424420797",

series = "Proceedings of the American Control Conference",

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booktitle = "2008 American Control Conference, ACC",

note = "2008 American Control Conference, ACC ; Conference date: 11-06-2008 Through 13-06-2008",

}

TY - GEN

T1 - Design of a linear time-varying cross-coupled iterative learning controller

AU - Barton, Kira L.

AU - Bristow, Douglas A.

AU - Alleyne, Andrew G.

PY - 2008

Y1 - 2008

N2 - In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

AB - In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including Iterative Learning Control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-Coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved CCILC is designed for raster-scan tracking on a Cartesian robotic test platform. Analysis and experimental results are presented.

UR - https://www.scopus.com/pages/publications/52449091571

UR - https://www.scopus.com/pages/publications/52449091571#tab=citedBy

U2 - 10.1109/ACC.2008.4587104

DO - 10.1109/ACC.2008.4587104

M3 - Conference contribution

AN - SCOPUS:52449091571

SN - 9781424420797

T3 - Proceedings of the American Control Conference

SP - 3914

EP - 3920

BT - 2008 American Control Conference, ACC

T2 - 2008 American Control Conference, ACC

Y2 - 11 June 2008 through 13 June 2008

ER -

Design of a linear time-varying cross-coupled iterative learning controller

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