Iterative learning control in high-performance motion systems: from theory to implementation

Martin Goubej, Sven Meeusen, Noud Mooren, Tom Oomen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages851-856
Number of pages6
ISBN (Electronic)978-1-7281-0303-7
DOIs
Publication statusPublished - 1 Sep 2019
Event24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 - Zaragoza, Spain
Duration: 10 Sep 201913 Sep 2019

Conference

Conference24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
CountrySpain
CityZaragoza
Period10/09/1913/09/19

Keywords

  • advanced feedforward control
  • basis-function ILC
  • frequency-domain ILC
  • iterative learning control
  • motion control
  • real-time systems

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  • Cite this

    Goubej, M., Meeusen, S., Mooren, N., & Oomen, T. (2019). Iterative learning control in high-performance motion systems: from theory to implementation. In Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 (pp. 851-856). [8868996] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ETFA.2019.8868996