Title :
Robust Iterative Learning Control: L1 adaptive feedback control in an ILC framework
Author :
Barton, K. ; Mishra, S. ; Xargay, E.
Author_Institution :
Univ. of Michigan, Ann Arbor, MI, USA
fDate :
June 29 2011-July 1 2011
Abstract :
This paper presents a novel Iterative Learning Control (ILC) scheme for linear systems in the presence of parametric uncertainty. The developed ILC architecture is comprised of an £1 adaptive feedback controller combined with an ILC feedforward controller. The learning controller is designed to compensate for repetitive system uncertainties, while the adaptive controller compensates for non-repetitive uncertainties. Simulation results for a simplified motion control system illustrate the potential benefits of the architecture.
Keywords :
adaptive control; control system synthesis; feedback; feedforward; iterative methods; learning systems; robust control; ILC feedforward controller; ILC framework; adaptive feedback control; controller design; linear systems; parametric uncertainty; robust iterative learning control; Adaptive control; Feedforward neural networks; Frequency domain analysis; Robustness; Stability analysis; Uncertainty;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5990872
