Title :
A time-varying iterative learning control scheme
Author :
Tharayil, Marina ; Alleyne, Andrew
Author_Institution :
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
fDate :
June 30 2004-July 2 2004
Abstract :
This paper presents an iterative learning control scheme that uses a time-varying Q-filter. The purpose of the time-varying Q-filter is to utilize the enhanced robustness given by a low bandwidth filter, while taking advantage of the superior performance properties of a high bandwidth Q-filter where needed. Simulations are provided to demonstrate the benefits of the proposed scheme. In addition, stability and convergence issues involved with using a time-varying filter are investigated. Finally the ILC algorithm developed here is implemented on a microscale robotic deposition (/spl mu/RD) system to provide experimental verification.
Keywords :
adaptive control; convergence; iterative methods; learning systems; microrobots; motion control; robust control; time-varying filters; convergence; high bandwidth Q-filter; iterative learning control algorithm; iterative learning control scheme; low bandwidth filter; microscale robotic deposition system; precision motion control; robustness; stability; time varying Q-filter; time varying control;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4