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

Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review

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Samenvatting

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.

Originele taal-2	Engels
Artikelnummer	101033
Aantal pagina's	7
Tijdschrift	European Journal of Control
Volume	80
Nummer van het tijdschrift	Part A.
Vroegere onlinedatum	19 jun. 2024
DOI's	https://doi.org/10.1016/j.ejcon.2024.101033
Status	Gepubliceerd - nov. 2024
Evenement	2024 European Control Conference (ECC) - KTH Royal Institute of Technology, Stockholm, Zweden Duur: 25 jun. 2024 → 28 jun. 2024 Congresnummer: 22 https://ecc24.euca-ecc.org/

Financiering

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.

Financiers	Financiernummer
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 Europe research and innovation programme	101007311

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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.\}",

year = "2024",

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doi = "10.1016/j.ejcon.2024.101033",

language = "English",

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TY - JOUR

T1 - A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

AU - van Haren, Max

AU - Tsurumoto, Kentaro

AU - Mae, Masahiro

AU - Blanken, Lennart L.G.

AU - Ohnishi, Wataru

AU - Oomen, Tom A.E.

N1 - Conference code: 22

PY - 2024/11

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N2 - 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.

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.

KW - Feedforward control

KW - Iterative learning control

KW - Mechatronics

UR - https://www.scopus.com/pages/publications/85196861663

U2 - 10.1016/j.ejcon.2024.101033

DO - 10.1016/j.ejcon.2024.101033

M3 - Article

SN - 0947-3580

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JO - European Journal of Control

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Y2 - 25 June 2024 through 28 June 2024

ER -

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

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