Rapid-prototyping of iterative learning control using MATLAB/Simlink hybrid-programming

Author

Yongqiang Ye ; Tayebi, Abdelhamid ; Xiaoping Liu

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2015

fDate

3-6 May 2015

Firstpage

1289

Lastpage

1293

Abstract

Rapid-control-prototyping is an efficient mean of experimental study for control research. It is a challenge to exercise rapid-control-prototyping for iterative learning control (ILC) due to the finite time nature of ILC. This paper describes the construction of an ILC system based on MATLAB, Simulink, and Quanser WinCon. MATLAB/Simulink hybridprogramming is utilized to solve the complex task of rapid-prototyping for ILC. The built robotic system has been shown an effective testbed for ILC. The project can provide control students a good opportunity to gain hands-on proficiency with MATLAB/Simulink hybrid-programming, rapid-prototyping, and ILC.

Keywords

dexterous manipulators; iterative learning control; iterative methods; software prototyping; Matlab/Simulink hybrid-programming; Quanser WinCon; control students; finite time ILC system; iterative learning control; rapid-control-prototyping; robotic system; History; Joints; MATLAB; Radiation detectors; Real-time systems; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on

Conference_Location

Halifax, NS

ISSN

0840-7789

Print_ISBN

978-1-4799-5827-6

Type

conf

DOI

10.1109/CCECE.2015.7129464

Filename

7129464