A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

Max van Haren; Kentaro Tsurumoto; Masahiro Mae; Lennart L.G. Blanken; Wataru Ohnishi; Tom A.E. Oomen

doi:10.1016/j.ejcon.2024.101033

A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

Max van Haren (Corresponding author), Kentaro Tsurumoto, Masahiro Mae, Lennart L.G. Blanken, Wataru Ohnishi, Tom A.E. Oomen

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Abstract

Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to achieve both the task flexibility enabled by ILC with basis functions and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework.

Original language	English
Article number	101033
Number of pages	7
Journal	European Journal of Control
Volume	80
Issue number	Part A.
Early online date	19 Jun 2024
DOIs	https://doi.org/10.1016/j.ejcon.2024.101033
Publication status	Published - Nov 2024
Event	22nd European Control Conference 2024, ECC 2024 - KTH Royal Institute of Technology, Stockholm, Sweden Duration: 25 Jun 2024 → 28 Jun 2024 Conference number: 22 https://ecc24.euca-ecc.org/

Funding

This work is part of the research programme VIDI with project number 15698, which is (partly) financed by The Netherlands Organisation for Scientific Research (NWO). In addition, this research has received funding from the ECSEL Joint Undertaking under grant agreement 101007311 (IMOCO4.E). The Joint Undertaking receives support from the European Union Horizon 2020 research and innovation programme. Furthermore, it is partially funded by the joint JSPS-NWO funding programme Research Network on Learning in Machines, with grant numbers JPJSBP220234403 and 040.040.060. It is also partly supported by JSPS KAKENHI grant numbers 23H01431 and 24KJ0959.

Funders	Funder number
Nederlandse Organisatie voor Wetenschappelijk Onderzoek
Japan Society for the Promotion of Science	23H01431, 24KJ0959
Electronic Components and Systems for European Leadership	101007311
European Union's Horizon 2020 - Research and Innovation Framework Programme	101007311

Keywords

Feedforward control
Iterative learning control
Mechatronics

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Cite this

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title = "A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC",

abstract = "Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to achieve both the task flexibility enabled by ILC with basis functions and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework.",

keywords = "Feedforward control, Iterative learning control, Mechatronics",

author = "{van Haren}, Max and Kentaro Tsurumoto and Masahiro Mae and Blanken, {Lennart L.G.} and Wataru Ohnishi and Oomen, {Tom A.E.}",

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language = "English",

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AU - Mae, Masahiro

AU - Blanken, Lennart L.G.

AU - Ohnishi, Wataru

AU - Oomen, Tom A.E.

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AB - Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to achieve both the task flexibility enabled by ILC with basis functions and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework.

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A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

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Funding

Keywords

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