The influence of disturbances in iterative learning control

R.J.E. Merry; M.J.G. Molengraft, van de; M. Steinbuch

doi:10.1109/CCA.2005.1507256

The influence of disturbances in iterative learning control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

For systems that perform repetitive tasks, a high performance feedforward signal can be derived using Iterative Learning Control (ILC). The feedforward signal is updated through successive iterations. Disturbances present in the control scheme, such as load and measurement disturbances, are also present in the learning process and deteriorate the performance of ILC. This paper presents an expression for the tracking error of an arbitrary iteration which shows the influence of measurement and load disturbances of the present and previous iterations. The expression is validated by means of simulations and experiments on a motion system. The disturbances of the last two iterations prove to have the largest influence on the tracking error.

Original language	English
Title of host publication	Proceedings of the 2005 conference on control applications (CCA2005),28-31 august 2005, Toronto, Canada
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	974-979
DOIs	https://doi.org/10.1109/CCA.2005.1507256
Publication status	Published - 2005

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10.1109/CCA.2005.1507256

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title = "The influence of disturbances in iterative learning control",

abstract = "For systems that perform repetitive tasks, a high performance feedforward signal can be derived using Iterative Learning Control (ILC). The feedforward signal is updated through successive iterations. Disturbances present in the control scheme, such as load and measurement disturbances, are also present in the learning process and deteriorate the performance of ILC. This paper presents an expression for the tracking error of an arbitrary iteration which shows the influence of measurement and load disturbances of the present and previous iterations. The expression is validated by means of simulations and experiments on a motion system. The disturbances of the last two iterations prove to have the largest influence on the tracking error.",

author = "R.J.E. Merry and \{Molengraft, van de\}, M.J.G. and M. Steinbuch",

year = "2005",

doi = "10.1109/CCA.2005.1507256",

language = "English",

pages = "974--979",

booktitle = "Proceedings of the 2005 conference on control applications (CCA2005),28-31 august 2005, Toronto, Canada",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

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The influence of disturbances in iterative learning control. / Merry, R.J.E.; Molengraft, van de, M.J.G.; Steinbuch, M.
Proceedings of the 2005 conference on control applications (CCA2005),28-31 august 2005, Toronto, Canada. Piscataway: Institute of Electrical and Electronics Engineers, 2005. p. 974-979.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - The influence of disturbances in iterative learning control

AU - Merry, R.J.E.

AU - Molengraft, van de, M.J.G.

AU - Steinbuch, M.

PY - 2005

Y1 - 2005

N2 - For systems that perform repetitive tasks, a high performance feedforward signal can be derived using Iterative Learning Control (ILC). The feedforward signal is updated through successive iterations. Disturbances present in the control scheme, such as load and measurement disturbances, are also present in the learning process and deteriorate the performance of ILC. This paper presents an expression for the tracking error of an arbitrary iteration which shows the influence of measurement and load disturbances of the present and previous iterations. The expression is validated by means of simulations and experiments on a motion system. The disturbances of the last two iterations prove to have the largest influence on the tracking error.

AB - For systems that perform repetitive tasks, a high performance feedforward signal can be derived using Iterative Learning Control (ILC). The feedforward signal is updated through successive iterations. Disturbances present in the control scheme, such as load and measurement disturbances, are also present in the learning process and deteriorate the performance of ILC. This paper presents an expression for the tracking error of an arbitrary iteration which shows the influence of measurement and load disturbances of the present and previous iterations. The expression is validated by means of simulations and experiments on a motion system. The disturbances of the last two iterations prove to have the largest influence on the tracking error.

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DO - 10.1109/CCA.2005.1507256

M3 - Conference contribution

SP - 974

EP - 979

BT - Proceedings of the 2005 conference on control applications (CCA2005),28-31 august 2005, Toronto, Canada

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

The influence of disturbances in iterative learning control

Abstract

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